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Hi,

To show the graph of the map in RVIZ, add a rtabmap_ros/MapGraph display and select the corresponding topic.

/rtabmap/mapData is assembled in RVIZ (e.g., on the client), so when the graph changes (e.g., after a loop closure), the point clouds associated to each node in the graph are corrected directly in RVIZ. The advantage to construct the map on client side is to use always the same fixed bandwidth between rtabmap node and the client (here RVIZ).

/rtabmap/cloud_map (PointCloud2) is assembled by rtabmap node with Grid parameters ($ rtabmap --params | grep Grid/). This cloud can be used by other modules on the robot. As the map increases in size, the bandwidth will also increase (the cloud will be bigger and bigger) if streamed outside the robot.

It is also possible to use rtabmap_ros/map_assembler node on client side to subscribe to /rtabmap/mapData and generate a cloud like /rtabmap/cloud_map.

cheers