Re: rtabmap with octomap and hector slam

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-with-octomap-and-hector-slam-tp696p710.html

Sorry, I forgot to mention to download the latest version of rgbd_mapping.launch. You will have "odom_topic" and "visual_odometry" arguments.

The warning is okay.

Use "raw text" to show your launch file, I can't see what is in the hector_mapping node. You should not have to use "scanmatcher_to_base_footprint" node. Normally with these hector_mapping parameters:

<param name="pub_map_odom_transform" value="false"/>
<param name="pub_map_scanmatch_transform" value="true"/>
<param name="pub_odometry" value="true"/>

odometry frame from hector_mapping should be published, as well as the odometry topic required by rtabmap. In your graph, the /scan topic is not connected to rtabmap node, which is strange since you used "subscribe_scan:=true scan_topic:=/scan" arguments. Are you on ROS Hydro?