Re: About Visual slam with lidar

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-Visual-slam-with-lidar-tp8798p8876.html

1. yes you can add "--udebug" in rtabmap_args, or call "rosservice call /rtabmap/rtabmap/log_debug" to enable debug log.

2. You may check this powerpoint too, but there are no detailed schemas of every inputs/outputs of each module. You would have to read the corresponding paragraphs of the modules shown in the Figure 1 of the related paper. If you are interested on which exact topic used under ros, you can look at the schemas on this page, or even launch rqt_graph when launching rtabmap.

cheers,
Mathieu