Re: Realtime Map Merger Improvements

Posted by derektan1995 on Aug 28, 2021; 4:08am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8467.html

Hi Mathieu,

I've thought of a few solutions to have both 3D depth maps and 3D pointcloud maps published.

1) I can write a separate RTAB node to subscribe to the mapData published by the main RTAB node running on the robot. This separate node will have parameter FromDepth set such that it publishes the other type of map.

2) I can edit the mapmanager class to publish both types of maps that is independent of the FromDepth parameter.

What do you think?

Much thanks,
Derek