Re: configuration for generating laser scan using the gen_scan option

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/configuration-for-generating-laser-scan-using-the-gen-scan-option-tp7286p7354.html

Hi,

If rtabmapviz is launched, you could see the generated scan like this (line in cyan or gray in the middle, I overlayed the occupancy grid created from this scan):


You can also open the resulting database in rtabmap-databaseViewer, then open 3D View and the scan should appear in yellow:


In RVIZ, with rtabmap_ros/MapCloud plugin, check Cloud from Scan, and a red line showing the scan should appear:


If the line doesn't show up, you may check if a scan is actually generated by adding "ROS_WARN("scan = %d", scan.size());" just after this line.

cheers,
Mathieu