Re: Real-Time Multi Robot Map Combination
Posted by
Jacobmo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p6004.html
Yes, I am pretty sure I have it working how it is supposed to.
It will successfully merge maps, it is pretty touchy but that may be because I have only tried it with simulations in gazebo, which are a little more tricky to get right.
I am planning on improving the way that it collects the nodes for the graph because as of now when it begins optimizing the combined map, the callbacks hang and they end up not getting all of the information.
The code for the node is located in this repo
https://github.com/jacobmoroni/map_mergerIf you want to launch the node as it is with pre-recorded bags, you can use the bag_map_merger.launch file.
you just need to change input parameters to reflect the bags that you use.
the map_merger.launch file is designed to run the node in real time while the robots are mapping.
Thank you,
Jacob Olson