Re: RGB_D camera + octomap_server + rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-camera-octomap-server-rtabmap-tp7537p7593.html

Hi,

I tried octomap_server and it seems to work. I tested with demo_robot_mapping.launch with this line set to true to produce a 3D map.

$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false
$ rosrun octomap_server octomap_color_server_node cloud_in:=/voxel_cloud
$ rosbag play --clock demo_mapping.bag

What I see comparing the OctoMaps, is that on loop closure, the OctoMap cannot correct the previous cells. Rtabmap updates the Octomap on loop closure correction.

octomap_server:


rtabmap:


EDIT: the rqt_graph


cheers,
Mathieu