Re: Using Kitti Dataset with ROS and Visualizing the Obtained Map with RViZ

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Kitti-Dataset-with-ROS-and-Visualizing-the-Obtained-Map-with-RViZ-tp9398p9409.html

Are there warnings in the terminal?

fixed_frame_id set to "world"? What is "world" frame?

Instead of using pointcloud_to_depthimage, you may use these parameters directly for rtabmap.launch. Set subscribe_depth=false, then rtabmap will subscribe to single RGB + camera_info + scan_cloud.

Related post: http://official-rtab-map-forum.206.s1.nabble.com/Multi-monocular-cameras-tp9383p9396.html

cheers,
Mathieu