This pull request has also merged Fed's SLAM-38-AddingStereoCam
Additionally, Gazebo GUI has been turned off.
To run rtabmap after gazebo, rviz (not move_base), run the command
roslaunch nav_rtab rtabmap_navigation.launch
There are 3 things you'll need to do in rviz to visualize rtabmap's data
Updating Scan topic
Change laser_scan's subscribed topic from /scan to /scan_filtered
Visualizing Point Cloud data
Add "MapCloud" under rtabmap_ros, and subscribe to the /mapData topic. Point cloud will be generated as you move.
Visualizing Occupancy Grid
Add "map", and subscribe to the /map topic. Occupancy grid will be generated as you move.
Warning:
As you move around, you'll find warning about "loop closure rejection". These are okay as SLAM isn't perfect, and just warns that a loop closure was estimated to happen but are rejected since not enough features are the same. Additionally, there may be a warning about "loop closure frequency". This is simply that the rate of loop closure isn't as high as desired, but should probably be dealt with when tuning rtabmap parameters.`
This pull request has also merged Fed's SLAM-38-AddingStereoCam Additionally, Gazebo GUI has been turned off.
To run rtabmap after gazebo, rviz (not move_base), run the command
roslaunch nav_rtab rtabmap_navigation.launch
There are 3 things you'll need to do in rviz to visualize rtabmap's data
Warning: As you move around, you'll find warning about "loop closure rejection". These are okay as SLAM isn't perfect, and just warns that a loop closure was estimated to happen but are rejected since not enough features are the same. Additionally, there may be a warning about "loop closure frequency". This is simply that the rate of loop closure isn't as high as desired, but should probably be dealt with when tuning rtabmap parameters.`