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Robot Client rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rtabmap/MapData rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo (rgb) sensor_msgs/Image (depth_registered) nav_msgs/Odometry sensor_msgs/LaserScan grid_map_assembler rtabmap/MapData nav_msgs/OccupancyGrid

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Page 1: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmapviz

rtabmap

rviz(rtabmap/MapCloud plugin)

rtabmap/MapData

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

sensor_msgs/LaserScangrid_map_assembler

rtabmap/MapData

nav_msgs/OccupancyGrid

Page 2: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmapviz

rtabmap

rviz(rtabmap/MapCloud plugin)

rtabmap/MapData

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

sensor_msgs/LaserScan

grid_map_assemblerrtabmap/MapData

nav_msgs/OccupancyGrid

depthimage_to_laserscan

sensor_msgs/CameraInfo (depth_registered)sensor_msgs/Image (depth_registered)

Page 3: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmapviz

rtabmap

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

sensor_msgs/LaserScan

icp_odometry

sensor_msgs/LaserScan

rviz(rtabmap/MapCloud plugin)

grid_map_assemblerrtabmap/MapData

nav_msgs/OccupancyGrid

rtabmap/MapData

Page 4: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmap/MapData

rtabmapviz

rtabmap

rviz(rtabmap/MapCloud plugin)

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

rtabmap/MapData

Page 5: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmapviz

rtabmap

rviz(rtabmap/MapCloud plugin)

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

visual_odometry

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

rtabmap/MapData

Page 6: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmapviz

rtabmap

rviz(rtabmap/MapCloud plugin)

rtabmap/MapData

viso2_ros/

stereo_odometer

sensor_msgs/Image (left/image_raw)sensor_msgs/Image (right/image_raw)sensor_msgs/CameraInfo (left)sensor_msgs/CameraInfo (right)

rtabmap/MapData

image_pipeline/

stereo_image_proc

rtabmap/

disparity_to_depth

sensor_msgs/Image (left/image_rect)sensor_msgs/Image (right/image_rect)

sensor_msgs/CameraInfo (left)sensor_msgs/CameraInfo (right)

stereo_msgs/DisparityImage

nav_msgs/Odometry

sensor_msgs/Image (depth)

sensor_msgs/Image (left/image_rect)

sensor_msgs/CameraInfo (left)

Page 7: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmap rtabmapviz

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

sensor_msgs/LaserScan

data_throttle(5-10 Hz)

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

Page 8: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

Robot Client

rtabmap rviz(rtabmap/MapCloud plugin)

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

sensor_msgs/LaserScan

grid_map_assembler

rtabmap/MapData

nav_msgs/OccupancyGrid

data_throttle(5-10 Hz)

relayrtabmap/MapData

point_cloud_xyzrgb

sensor_msgs/PointCloud2

(use compressed images)

Page 9: RobotClient rtabmapviz rtabmap rviz (rtabmap/MapCloud plugin) rviz (rtabmap/MapCloud plugin) rtabmap/MapData sensor_msgs/Image (rgb) sensor_msgs/CameraInfo

rtabmapviz

rtabmap

Robot

Client

rviz(rtabmap/MapCloud plugin)

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)

nav_msgs/Odometry

grid_map_assembler

nav_msgs/OccupancyGrid

relays

rtabmap/MapData

data_throttle(5-10 Hz)

sensor_msgs/LaserScan

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)sensor_msgs/LaserScannav_msgs/Odometry

rtabmap/MapData

sensor_msgs/Image (rgb)sensor_msgs/CameraInfo (rgb)sensor_msgs/Image (depth_registered)sensor_msgs/LaserScannav_msgs/Odometry

(use compressed images)


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