Re: Pointcloud map generation using Realsense D435i

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pointcloud-map-generation-using-Realsense-D435i-tp8543p8575.html

Hi,

For cloud_map, we can decrease the cell size with Grid/CellSize parameter (default is 0.05 m). At the same time, the occupancy grid cell size will also change to value set (I would not do under 1 cm).

There is no code modification needed to change a referential, add a static transform like this:
<node pkg="tf" type="static_transform_publisher" name="hack_looking_down"
        args="0 0 0 0 1.57079632679 0 base_link_down base_link 100" /> 

then use frame_id:=base_link_down for rtabmap. However, it may screw up all related TF dependent nodes. Other option is to subscribe to cloud_obstacles and cloud_ground, and generate yourself a 2D grid map from the 3D point clouds.