Re: RTAB-MAP with only 3D LIDAR and no loop closing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8496.html

Hi, if mapData is not published, this means rtabmap is doing nothing. Do you have warnings in terminal telling that rtabmap didn't receive topics for 5 seconds?

The cmr_lidarloop package should work without camera. On their system, they had cameras that were also fed to rtabmap, but external cmr_lidarloop only needed the scan_descriptor fed to rtabmap node and extracted back from mapData.

cheers,
Mathieu