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-tp8282p8627.html

Hi, you should set subscribe_rgbd to true to subscribe to rgbd_image. However, you are right, there was a bug when subscribing to scan_descriptor at the same time. I fixed the issue in this commit.

And for all the paramters not found warnings from rtabmapviz, either set rtabmap node name to "rtabmap" instead of "rtabmap_mapping" or add

<param name="rtabmap"     type="string"    value="rtabmap_mapping"/>

under rtabmapviz node.

cheers,
Mathieu