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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Offset of the map made using rtabmap_costmap_plugins::StaticLayer #1087

Closed JoachimDenantes closed 11 months ago

JoachimDenantes commented 11 months ago

Hi, I am using ROS noetic, producing gridmap with RTAB-Map and trying to use this map to make a global map in move_base. So I am using the plugin rtabmap_costmap_plugins::StaticLayer as you can see in costmap_global_laser.yaml. You can see the result in the image of rviz I sent. The global map is build correctly using the RTAB-Map gridmap, but it is offset, not aligned with the rest. Any idea on how to fix this ? map offset costmap_common global_costmap

matlabbe commented 11 months ago

I think static_map should be true for the global costmap. The width and height don't need to be explicitly set. rolling_window should be false.

JoachimDenantes commented 11 months ago

It work! Thank you very much