Revision history [back]

1. No, use RobotModel display in RVIZ instead

2. /rtabmap/goal should be connected to /move_base_simple/goal, or rtabmap is configured to use actionlibs with move_base like in this example:

   <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen"> <remap from="move_base" to="/move_base"/> ... </node>

3. We cannot add 3D models for visualization in rtabmapviz. However, if the robot moves, the referential corresponding to base_link frame will move in rtabmapviz.

Note that rtabmapviz is used only for visualization (not required for SLAM), so in general we choose between rviz or rtabmapviz. We can open both too: rtabmapviz used to monitor loop closures and see statistics, while rviz is used to show the map and the robot model.

1. No, use RobotModel display in RVIZ instead

2. /rtabmap/goal should be connected to /move_base_simple/goal, or rtabmap is configured to use actionlibs with move_base like in this example:

   <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen"> <remap from="move_base" to="/move_base"/> ... </node>

3. We cannot add 3D models for visualization in rtabmapviz. However, if the robot moves, the referential corresponding to base_link frame will move in rtabmapviz.

Note that rtabmapviz is used only for visualization (not required for SLAM), so in general we choose between rviz or rtabmapviz. We can open both too: rtabmapviz used to monitor loop closures and see statistics, while rviz is used to show the map and the robot model.

1. No, use RobotModel display in RVIZ instead

2. /rtabmap/goal should be connected to /move_base_simple/goal, or rtabmap is configured to use actionlibs with move_base like in this example:

`

 <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen">
   <param name="use_action_for_goal" type="bool" value="true"/>
  <remap from="move_base" to="/move_base"/>
</node>
 </node>