RTABMAP How to save registered 3D point cloud?

edit

Hi,

It depends on which resolution you need the point cloud. By default, the /rtabmap/cloud_map topic (which is a PointCloud2) is voxelized at 5 cm. You can use pointcloud_to_pcd to export the point cloud to PCD:

$ rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map

If rtabmap is not running (e.g., paused), call this to republish the map after being subscribed to /cloud_map:

$ rosservice call /rtabmap/publish_map 1 1 0

See rtabmap_ros/rtabmap wiki to see parameters related to /cloud_map. Unlike rtabmapviz, options are more limited:

~cloud_decimation (int, default: 4)
~cloud_max_depth (double, default: 4.0)
~cloud_voxel_size (double, default: 0.05)

EDIT

In rtabmap version >= 0.11.11, if you have set subscribe_scan to true, you should explicitly set Grid/FromDepth to true to assemble 3D Kinect clouds for /rtabmap/cloud_map:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   ...
   <param name="Grid/FromDepth" type="string" value="true"/>
</node>

cheers