Pre-determined map with RTAB-MAP?
I have my robot setup with RTAB-map and robot_localization. The robot is used mainly outdoors (similar to clearpath husky's waypoint_nav), and will pretty much always have a pre-determined map, such as sidewalks and parking lots that I can turn blueprints into a map server. I am trying to determine the better route to take.
Should I trash the idea of using slam since these maps won't really have walls to localize off of, and just use my obstacles from the obstacle_detection package to update my local costmap since my robot will be localized well?
The ekf is tuned well with data from ~3cm GPS, imu, and wheel odom, so localization really shouldn't be a problem. I have had solid results from using the /obstacles for marking and /ground for clearing in a local costmap w/o RTAB-MAP. I have tested both and am leaning towards taking out the SLAM aspect for now. Looking at waypoint_nav, they use hector SLAM for mapping but I am wondering if it's worth it in this aspect.