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-tp5886p5925.html

Hi,

rtabmap filters inf values, I had some in my tests, so it is ok to have inf in scan topics. On your side, it seems the laser scan has also very large numbers (not inf), causing the errors. You may use a LaserScanRangeFilter to make sure the scans have valid numbers, or use the Grid/RangeMax workaround. The large numbers are maybe related to gazebo laser scan plugin on your system (if your system supports GPU rays or not for example).

cheers,
Mathieu