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

Posted by Davor96 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Camera-and-2D-Lidar-Is-there-any-way-to-merge-scans-tp7671p7717.html

Hi,

thank you Mathieu for your response. I managed to resolve the problem by implementing code from the two links you send me. 

In costmap_common_params.yaml(from turtlebot_navigation->params) I added "point_cloud_sensorA" and "point_cloud_sensorB"
to "observation_sources: scan bump" and the description of the two new sensors below(just changed "sensor_frame:" to "camera_link").

And in my launch file, I added "data_throttle", "points_xyz_planner" and "obstacles_detection" as standalone nodelets
(remapped "frame_id" to "camera_link" in "obstacles_detection" node and remapped inputs from camera in "data_throttle" node).

Thank you for taking your time to help me.

Sincerely,
Davor