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I have been able to successfully install and run ccny_rgbd and save out a pcd map. I can also see the map using pcd_viewer. Can someone tell me the steps to then localize the kinect "within" a saved map? ie. now that I have a map, what are the steps for the kinect to localize within it and once it does, how can I visualize both in rviz? Thanks, -Scott


Originally posted by Scott on ROS Answers with karma: 693 on 2013-02-27

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Original comments

Comment by Scott on 2013-02-27:
Are there plans to enhance the stack to support navigation in a map that ccny_rgbd has captured? Or is there a way to do this via exporting it as an octomap or some other way you could suggest?

Comment by Ivan Dryanovski on 2013-02-28:
The support to export an Octomap is there (it's not exported continuously though, you must call a service). We are working on localization, but other navigation features (path-planning, obstacle avoidance) will be outside the scope of this package

Comment by Scott on 2013-02-28:
Thank you for your comments. I was able to export the map as an octomap and will attempt to use that and localize a kinect within it using humanoid_localization stack. Thanks again. the ccny_rgbd is a fantastic package. Good luck.

Comment by Ivan Dryanovski on 2013-02-28:
No problem, glad you find it useful. If you ever have time, send me a screenshot of your octomap :)

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the functionality to localize on a pre-existing map does not currently exist in ccny_rgbd, but might exist using other tools


Originally posted by Ivan Dryanovski with karma: 4954 on 2013-02-27

This answer was ACCEPTED on the original site

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