Combined 2D and 3D Navigation using SLAM Algorithm using D435 and RP LIDAR on ROS Melodic Using Jetson Nano 4GB.

[TheMuhammadRafay]

Hi fellows,

I am new to ROS and Jetson Nano. We have to make an autonomous vehicle for our final year project and for the software-based analysis, we have to run the SLAM algorithm to generate a map of the environment.
We have tried generating a 3D map using RTABMAP on Depth Camera Intel Realsense D435 on Jetson Nano and 2D map using RP Lidar A1. We also run Hector SLAM too.
But the main problem is to combine them both.
Our ultimate task is to simulate Rviz now such that it must create a 3D map using RTABMAP through D435 camera and 2D map using Hector SLAM through Lidar on a single-screen.
Both combined features must run smoothly without any lag or disturbance.
I am facing this problem so anyone who knows please clearly write the steps so anyone facing this issue can easily run both the features and create the map of the environment.
Note: All of my tasks are running on the Jetson Nano B01 (4GB) having Jetpack 4.6.5 on Ubuntu 18.04 and ROS1 Melodic.

#ROSMelodic #RTABMAP #HectorSlam #JetsonNano #Rviz

[matlabbe]

I am facing this problem

Which problems?

If you want to combine hector slam with rtabmap, look at this configuration, in particular by following hector argument in this launch file