Map pointcloud publishing in RGBDSLAM
I'm trying to use RGBDSLAM for path planning and navigation. I use tf to get position and orientation of the camera, but I need to be able to subscribe to the pointcloud map to detect obstacles.
Of all of the topics published by RGBDSLAM (I think the correct way to see this is rostopic info /rgbdslam), /rgbdslam/aggregate_clouds and /rgbdslam/batch_clouds seem to be what I'm looking for, but I have encountered a couple problems with this:
With /rgbdslam/batch_clouds I can create a topic that converts the point cloud to images and then use image_view to watch them. But a) this only works if I manually use the Send Model function, and b) as the description in the server parameter says, it appears to show individual pointclouds one after the other.
And with /rgbdslam/aggregate_clouds, I can't, for some reason I can't yet comprehend, use the same visualization method, so I am not sure what is being published there.
So, my question is: Is it even possible to get online information of the map pointcloud (with the latest version)? If so, is /rgbdslam/aggregate_clouds the right topic to subscribe to?
Thanks.