- install ros-kinetic-octomap files (octomap, server, rviz-plugin)
- move the realsense launchfile to realsense directory
- move the rtabmap launchfile to rtabmap directory.
- git clone this repository into your catkin workspace
$ roslaunch realsense2_camera rs_rgbd_hubostanding.launch
$ roslaunch rtabmap_ros rtabmap_hubo.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/aligned_depth_to_color/camera_info rviz:=true rtabmapviz:=false frame_id:=hubo_base_link
$ rosrun mobile_path_planning fake_octomap
$ rosrun mobile_path_planning mobile_path_planning
- can play off rosbag data.
- can modify goal pose by publishing new pose