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From the little data you posted, to me it seems you are missing the depthimage to laserscan node (or similar). You input (remap) "scan_cloud (sensor_msgs/PointCloud2)" into rtabmap where there should be "scan (sensor_msgs/LaserScan)" - this is a 2d laserscan type of datastream. As mentioned, to get a LaserScan messege out of a 3d datastream you need a node for interpretation. Standard nodes to do this are depthimage_to_laserscan link text or pointcloud_to_laserscan link text Be aware that those two nodes have different capabilities, specially tilted sensors only work with one.

Here is a tutorial link for doing what you want link text 2.2 is the depthimage to laserscan example.

rtabmap wiki: link text

From the little data you posted, to me it seems you are missing the depthimage to laserscan node (or similar). You input (remap) "scan_cloud (sensor_msgs/PointCloud2)" into rtabmap where there should be "scan (sensor_msgs/LaserScan)" - this is a 2d laserscan type of datastream. As mentioned, to To get a LaserScan messege out of a 3d datastream you need a node for interpretation. Standard nodes to do this are depthimage_to_laserscan link text or pointcloud_to_laserscan link textlink Be aware that those two nodes have different capabilities, specially tilted sensors only work with one.

Here is a tutorial link for doing what you want link textlink 2.2 is the depthimage to laserscan example.

rtabmap wiki: link textlink

From the little data you posted, to me it seems you are missing the depthimage to laserscan node (or similar). You input (remap) "scan_cloud (sensor_msgs/PointCloud2)" into rtabmap where there should be "scan (sensor_msgs/LaserScan)" - this is a 2d laserscan type of datastream. To get a LaserScan messege out of a 3d datastream you need a node for interpretation. Standard nodes to do this are depthimage_to_laserscan link textlink or pointcloud_to_laserscan link Be aware that those two nodes have different capabilities, specially tilted sensors only work with one.

Here is a tutorial link for doing what you want link 2.2 is the depthimage to laserscan example.

rtabmap wiki: link