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You should record these topics in a bag file:

/camera/depth/camera_info
/camera/depth/image
/camera/rgb/camera_info
/camera/rgb/image_color
/tf

They have all the info for use with RGBDSLAM. Then, use that package to map with the simulated data. You can save the map in the GUI supplied with the RGBDSLAM package.

If you are just trying to make a 2D map, then record

/tf
/scan

and use the gmapping package to map. Use the map_server package to save a map.

Hope it helps!

-Hunter A.