Re: Realtime Map Merger Improvements
Posted by derektan1995 on Sep 07, 2021; 3:56am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8536.html
Hi Mathieu,
That's a great suggestion, thanks.
I recently noticed something interesting about rtabmapviz. While my robot is performing RTABMap locally on its own computer, I have rtabmapviz running on my own laptop connected to the robot in the same ROS network via WiFi. Instead of subscribing to the 3d map output (or mapData) from the robot, I could simply subscribe to its RGBD depth cloud data and observe the map reconstruction on rtabmapviz on my own laptop.
My suspicion is that rtabmapviz is subscribing to the robot's /tf topic, and renders the depth cloud at the position based on the /tf corrected by RTABMap. I find this very beneficial because I do not have to subscribe to entire pointcloud map topics that will congest my network, but instead can subscribe to lighter-weight depthcloud data at each timestep. Please correct me if my understanding is wrong.
I would like to ask if I could use RTABMapviz to construct the 3d map in the similar manner, but with multiple robots? Ideally, I would like to subscribe to multiple robot's depth cloud and /tf topics (with namespacing) and visualize everything on the same visualizer.
Regards,
Derek