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-tp696p728.html

It is strange, you could try with the rtabmap version from source (see here for instructions). I tried again and this is what I get (finally moving with teleop_pr2_keyboard... a vertical twist was required to take off):

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.5
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

Note the high CPU usage from gazebo. My computer is at 100% CPU on every core. I couldn't test octomap as my laptop is lagging too much wih Gazebo.



Then, if I open the generated database in rtabmap standalone. Note that there is no loop closures detected, it is pure odometry computed by hector_mapping.