How to display a 3D Map on RVIZ using ORB_SLAM2?
I'm a ROS newbie. I'm using ROS Indigo in a virtual session using Ubuntu 14.04 on my MacBook Pro laptop using my built-in camera. I can successfully execute the ORB_SLAM2 ROS Package using this command: roslaunch ORB_SLAM ExampleGroovyOrNewer.launch. Using RVIZ, I can see the a map with the keyframes etc under Global Options/Fixed Frame, I'm not sure what you call this type of map ... it appears to be a 'Point Cloud' display). However I would also like to visualize the actual 3D Map that is being built on the fly by ORB_SLAM2. I have attached an example image below of the type of Map that I would like to display on RVIZ (or maybe there is another tool I need to use). When I try to 'add' a 'Map' to RVIZ, I don't see any published topics to select from. Do I need, for example, to use the 'Map_server' or maybe the 'Gmapping' ROS packages to accomplish this. Also, I can't seem to determine the differences between ORB_SLAM and ORB_SLAM2. Can you shed some light on this. Should I have started with ORB_SLAM?
Can someone please help me with this question?
Thanks ...Phil

Hi. I have the same problem. Im not sure if ORB_SLAM2 can broadcast such messages can build the map in real time. Did you solve the problem?
@Astronaut: was your post an answer? No? Then please don't post it as one and use a comment. Thanks.
yes. I realize it. now is a comment
I guess the original ORB-SLAM2 does not publish map topic. You'll need to use other libraries such as PCL and octomap to get the map. I'm trying to figure out this too, hope I can get some clues later.
Has someone been able to do this? I'm trying to build a map based on depth and figured I'd have to use something like octomap with ORB_SLAM2. Anything helps.