How to use it on my own robot

[kanhw]

Thanks for your efforts. I saw #7 and modified my launch file and yaml file, nothing is displayed in rviz after running. my launch: arg name="robot_id" default="0"/ arg name="robot_name" default="go2"/ arg name="camera_topic" default="/$(arg robot_name)/camera/depth/image_raw"/ arg name="lidar_topic" default="/$(arg robot_name)/velodyne_points"/

node pkg="elevation_mapping" type="elevation_mapping" name="elevationmapping$(arg robot_id)" output="screen" rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/simple_demo_robot.yaml" rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml" rosparam command="load" file="$(find elevation_mapping)/config/sensor_processors/velodyne_VLP16.yaml" remap from="/velodyne_points" to="$(arg lidar_topic)"/> remap from="/camera/depth/image_raw" to="$(arg camera_topic)" node node name="rviz" pkg="rviz" type="rviz" args="-d $(find elevation_mapping_demos)/rviz/elevation_map_visualization.rviz" /

and my yaml: robot_id: "0" robot_name: "go2" map_frame_id: "/map" sensor_frame_id: "/velodyne_base_link" robot_base_frame_id: "/base" track_point_frame_id: "/base" robot_pose_cache_size: 200 robot_local_map_size: 20 track_point_x: 0.0 track_point_y: 0.0 track_point_z: 0.0 octomap_road_resolution: 0.2 octomap_obs_resolution: 0.1 map_saving_file: "./map.pcd" submap_saving_dir: "./submaps/" camera_params_yaml: "/home/khw/catkin_ws/src/GEM/elevation_mapping/elevation_mapping/config/sensor_processors/realsense_d435.yaml" orthomosaic_saving_dir: "./image/" Thank you very much for your reply

[MaverickPeter]

@kanhw Please provide the global status error information in your rviz and your terminal output.

[kanhw]

@kanhw Please provide the global status error information in your rviz and your terminal output. Thank you very much for your reply, I want to use data from both depth camera and lidar, but currently only lidar is used. How can I add the camera data as well?