Re: 2D LiDAR on quadrotor

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/2D-LiDAR-on-quadrotor-tp9124p9172.html

Hi,

yes, rtabmap assumes you are using a ground robot moving on x-y plane when using a 2D lidar. You could convert the laser scan topic into a PointCloud2 topic, then rtabmap will think it is a 3D point cloud. However, all ICP stuff will likely fail (for lack of correspondences) but you could still use the lidar for mapping or generate a 3D point cloud, and you would need an external 6DoF odometry to feed to rtabmap node.

You can also use point_cloud_assembler to accumulate the laser scans for 1 second, then feed the assembled point cloud to rtabmap.

cheers,
Mathieu