Re: Real-Time Multi Robot Map Combination

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p6008.html

Hi, thx for sharing!

To cut off the ceiling, you could use Grid/MaxObstacleHeight parameter. You are already parsing Grid parameters, so you may only have to add to your node:

<param name="Grid/MaxObstacleHeight" value="2"/>

It could be also possible to republish a MapData topic. See how it is done here. That way the whole map data is copied. It would be more efficient to just get the graph from latest statistics (rtabmap.getStatistics()) and add signatures for only new added data like here.

cheers,
Mathieu