Re: RGBD Camera and 2D Lidar: Is there any way to merge scans?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Camera-and-2D-Lidar-Is-there-any-way-to-merge-scans-tp7671p7675.html

Hi,

You may use the lidar for the occupancy grid map (global planning in move_base), and feed the camera cloud to local cosmtap parameters. The local costmap can contain both obstacles from lidar and the camera (see obstacles_detection nodelet to segment the ground and obstacles from the camera). See for example:
https://github.com/introlab/rtabmap_ros/blob/master/launch/azimut3/config/local_costmap_params_2d.yaml

cheers,
Mathieu