Re: RTAB-Map occupancy grid map error in Turtlebot3 Gazebo

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-occupancy-grid-map-error-in-Turtlebot3-Gazebo-tp5886p5915.html

Hi, normally the inf values in the ranges should be discarded. I tried the turtlebot3 gazebo example and I didn't have problems:

$ export TURTLEBOT3_MODEL=waffle

$ roslaunch turtlebot3_gazebo turtlebot3_house.launch

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

$ roslaunch turtlebot3_bringup turtlebot3_remote.launch model:=waffle

$ roslaunch rtabmap_ros rtabmap.launch \
   args:="-d \
      --RGBD/NeighborLinkRefining true \
      --Reg/Force3DoF true \
      --Reg/Strategy 1 \
      --Mem/LaserScanVoxelSize 0.05 \
      --Icp/MaxCorrespondenceDistance 0.1 \
      --Mem/ImagePreDecimation 3 \
      --Mem/ImagePostDecimation 2" \
   visual_odometry:=false \
   odom_frame_id:=odom \
   subscribe_scan:=true \
   scan_topic:="/scan" \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   rgb_topic:=/camera/rgb/image_raw \
   camera_info_topic:=/camera/rgb/camera_info \
   depth_topic:=/camera/depth/image_raw \
   frame_id:=base_footprint