Obstacle Detection Nodelet & /local_grid_obstacle

Posted by abcamiletto on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Detection-Nodelet-local-grid-obstacle-tp6949.html

Hi Mathieu, it's my first post here

I'm using rtabmap_ros to do navigation on known and unknown envs, and i thought i had to use the Obstacle Detection nodelet and feed the (local) costmap2d plugin with its output (/ground and /obstacles).
While doing so, i found that rtabmap publish two interesting topics:

/rtabmap/local_grid_obstacle
/rtabmap/local_grid_ground

To me, it seems like it's exactly what i need but i couldn't find any reference to these topics in the doc.
What are the differences between these topics and the ones published by the obstacle detection nodelet?
Are there any params i can tune to adjust these 2 topics to my needs? I'd like it to run at more than 1Hz, but maybe that's bounded by my XavierNX

Thank you in advance!

Andrea