2D GridMap

[shinbehavior]

Someone know how you can achieve some result like this guy with graph view? https://www.youtube.com/watch?v=NDkw-YhQfXI&t=121s I have almost the same camera D455, its something with laptop/pc hardware? Or maybe correct launch file? Help please if you know.

Its looks so fine when he overwrite the grid. And in general.

[matlabbe]

Can you show example of your result to compare? It looks like he used the default parameters.

[shinbehavior]

Can you show example of your result to compare? It looks like he used the default parameters.

My result cannot overwitre grid like this.

[matlabbe]

For overwriting cells, make sure Grid/RayTracing is on.

[shinbehavior]

For overwriting cells, make sure Grid/RayTracing is on.

Can I do it in the launch files? Can you provide more about it pls

[matlabbe]

Under rtabmap node:

<param name="Grid/RayTracing" type="string" value="true"/>

[shinbehavior]

Under rtabmap node:

<param name="Grid/RayTracing" type="string" value="true"/>

I'm trying to do it already, but I think smth with my node. Because when I launched this I got Grid/RayTracing = False also the same staff with a queue_size. I put a value of 20, but on the launch value is 10.

<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
        <param name="queue_size" value="20"/>
        <param name="Grid/RayTracing" type="string" value="true"/>
        <arg name="args" value="--delete_db_on_start"/>
        <arg name="rgb_topic" value="/camera/color/image_raw"/>
        <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
        <arg name="camera_info_topic" value="/camera/color/camera_info"/>
        <arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/>
        <arg name="rtabmapviz" value="false"/>
        <arg name="rviz" value="true"/>

    </include> 

Edit: Also, maybe you know some launch files for 2D occupancy grid map. Because now I have too many topics and this is so hard for the system. I use RealseSense D 455.

[matlabbe]

With rtabmap.launch, you should use only arg (and for rtabmap library params, set them in args like below):

<arg name="queue_size" value="20"/>
<arg name="args" value="--delete_db_on_start --Grid/RayTracing true"/>

[shinbehavior]

With rtabmap.launch, you should use only arg (and for rtabmap library params, set them in args like below):

<arg name="queue_size" value="20"/>
<arg name="args" value="--delete_db_on_start --Grid/RayTracing true"/>

Thanks, will try it!