public local occupancy map by only using stereo camera

[Aber111]

Hello! Thank you very much for your work! Can rtabmap generate a local 2D occupancy map with only stereo cameras? Looking forword to your reply, Thanks!

[matlabbe]

Yes, it does. If you subscribe only to stereo topics, by default it will create one. If you subscribe to a lidar at the same time, you have to explicitly set Grid/Sensor=1 to use the camera to create the occupancy grid. If you are navigating in 2D, you could set Grid/3D=false and Grid/Raytracing=true to fill more unknown space.