Package Summary
RTAB-Map's rviz plugins.
- Maintainer status: maintained
- Maintainer: Mathieu Labbe <matlabbe AT gmail DOT com>
- Author: Mathieu Labbe
- License: BSD
- Bug / feature tracker: https://github.com/introlab/rtabmap_ros/issues
- Source: git https://github.com/introlab/rtabmap_ros.git (branch: noetic-devel)
RVIZ plugins
Map Cloud Display
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 |
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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".