Re: Query about SLAM

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Query-about-SLAM-tp7788p8400.html

Hi,

The default mode for that launch file is SPLAM. It starts doing slam, then you can send goals to /rtabmap/goal. rtabmap is linked to move_base actionlib topics to provide the goal for move_base accordingly to where the goal has been set in rtabmap's map. Read the following paper for more details: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/8/87/LabbeAURO2017.pdf

If rtabmap is subscribed to gps, it will contain gps values for each pose in its graph. There is currently no way to send a goal as GPS coodinate to rtabmap node. That GPS coordinate should have to be converted in map coordinate frame by rtabmap, this is not implemented.

cheers,
Mathieu