RGBDSLAM -- Edit for 2DSLAM¶
We received an email from the author, Felix Endres, that recommended the following:
"Here's what you should do:
Use the latest snapshot (see the installation instructions on
 Turn off store_pointclouds in the launch file you are using
(or see rgbdslam_sample_config.launch) or in parameter_server.cpp.
 Change the constructor and projectionTo3d method in node.cpp to omit
the point cloud and use the depth image to get the depth values for the
If you want to do further changes, you can build the doxygen
documentation with the command "rosrun rosdoc rosdoc rgbdslam"
This will create a folder "doc" in the current directory."
1. To turn off
store_pointclouds, go into
parameter_server.cpp and, on line 54, set it to
false instead of
true, and do the same on line 69 of
2. To be finished: Do we have to write our own class? How does his work? How can we omit such things without breaking the code? We should get together and talk about this.