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how to increase resolution of map in yaml file

asked 2021-07-13 07:15:19 -0600

Ivan4815162342 gravatar image

Hello,

I am using rtabmap to get map of environment. For saving 2D projection of map I type:

rosrun map_server map_saver -f map

As a result I get a yaml file with a resolution is equal to 0.05. Is there a way to increase this resolution?

Thanks

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answered 2021-07-13 12:02:57 -0600

abhishek47 gravatar image

There's a parameter Grid/CellSize whose value can be modified from the default 0.05 (source code).

As stated in the documentation, call the node rtabmap with --params to show all available parameters.

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I tried to launch rtabmap with Grid/CellSize parameter is equal to 0.05 and 0.5 but the resolution in the yaml file was the same for both cases.

Ivan4815162342 gravatar image Ivan4815162342  ( 2021-07-14 06:06:40 -0600 )edit

The parameter may not be correctly set:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" args:="--delete_db_on_start --Grid/CellSize 0.1">
...
</node>

or

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" args:="--delete_db_on_start">
   <param name="Grid/CellSize" value="0.1"/>
</node>
matlabbe gravatar image matlabbe  ( 2021-07-30 08:58:03 -0600 )edit

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Asked: 2021-07-13 07:15:19 -0600

Seen: 36 times

Last updated: Jul 13