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Package Summary

RTAB-Map's rviz plugins.

RVIZ plugins

Map Cloud Display

MapCloudType.png

This rviz plugin subscribes to /mapData (rtabmap_msgs/MapData) topic. A 3D map cloud will be created incrementally in RVIZ. When the graph is changed, all point clouds added in RVIZ will be transformed to new poses. It has the same properties as PointCloud display but with these new ones:

Properties

Name

Description

Valid Values

Default

Cloud decimation

How the input depth and RGB images are decimated before creating the point cloud

[1-16]

4

Cloud max depth (m)

Maximum depth of each point cloud added to map (0 means no maximum)

[0-9999]

4

Cloud voxel size (m)

Voxel size of the generated point clouds (0 means no voxel)

[0-1]

0.01

Filter floor (m)

Maximum height of the floor filtered (disabled=0).

[0-9999]

0

Node filtering radius (m)

Only keep one node in the specified radius (disabled=0).

[0-1]

0.2

Node filtering angle (degrees)

Only keep one node in the specified angle in the filtering radius (disabled=0).

[0-180]

30

Download Map

Download the map from rtabmap node. This may take a while if the map is big, be patient!

.

.

Download Graph

Download the graph from rtabmap node.

.

.

Map Graph Display

This rviz plugin subscribes to /mapGraph (rtabmap_msgs/MapGraph) topic. It will show the RTAB-Map's graph with different colors depending on the links' type. It has the same properties as Path display.

Info Display

This rviz plugin subscribes to /info (rtabmap_msgs/Info) topic. Information about loop closures detected are shown in the "Status".


2024-05-18 14:04