The resulting /grid_map in the Database is empty.
( 15:29:01.710) SensorData.cpp:696::uncompressDataConst() Requested depth/right image data, but the sensor data (1) doesn't have depth/right image. For older locations already in database without an occupancy grid map, you can use the "rtabmap-databaseViewer" to regenerate the missing occupancy grid maps and save them back in the database for next sessions. Make sure parameter "RGBD/CreateOccupancyGrid" is true to avoid this warning for the next locations added to map. For convenience, the occupancy grid is regenerated.
( 15:29:01.707) MapsManager.cpp:584::updateMapCaches() Occupancy grid for location 1 should be added to global map (e.g, a ROS node is subscribed to any occupancy grid output) but it cannot be found in memory. zed2/zed_node/rgb/image_rect_color/relay, This would be my preferred way, since it should take less bandwith than version 2, but as soon as rviz subscribes to the /grid_map topic I get the following error: : From there I subscribe the republished topics with rtabmap and rtabmap obstacle detection.
Send a downsampled point cloud to the remote PC and republish it via an relay. Im starting the camera on the rover and use one of two options:
I'm trying to implement a navigation with a zed2 and the following structure:
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