Re: Using RTAB Map just for obstacle detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-Map-just-for-obstacle-detection-tp6644p6656.html

Hi,

You can use obstacles_detection nodelet alone. What you are trying to do is very similar to what is done in this tutorial to give the obstacles to local costmap, which is reproduced in this test_obstacles_detection.launch file. Here this disparity image is taken from the output of stereo_image_proc node. If your camera gives already a depth image, you can use also the depth image with the point_cloud_xyz nodelet by remapping depth/image input topic instead.

cheers,
Mathieu