How can I record data in ROS for rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-can-I-record-data-in-ROS-for-rtabmap-tp74.html

(Question from https://code.google.com/p/rtabmap/wiki/Tools moved here)

Hi Mathieu,

Can you specify how can I record data in ROS for rtabmap. Which topics I should record to store into the rosbag and how to play it back using rtabmap. Should I run the rtabmap launch file when playing back the rosbag. Actually, I want to recreate the whole map that was built step by step as can be shown in the your video. Right now I am only getting the whole point cloud data (rtabmap.db). I would like to view the data for future processing since I do not have a screen on my pc which is attached to robot. Can you explain in steps. Thank you

-Alex