Re: Using RTAB-Map for graph-based mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-Map-for-graph-based-mapping-tp8431p8515.html

For your lightweight question, with external odometry, rtabmap node alone can use little resources (RAM and CPU). Typical application would be to map the target environment first without people walking around, then launch rtabmap in localization mode and navigation stuff. For dynamic obstacles avoidance, this would be mainly handled by move_base, as rtabmap would only have to give it the static map and the current localization, similar to this setup: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

cheers,
Mathieu