Necessity of launching move_base for mapping

the SLAM process will be handled by the rtabmap_ros package itself

In ex 1.1, why is the move_base which is used for moving to a goal position also used for mapping? Won’t it be sufficient to only use the rtabmap_ros package

Also for visualising mapping process,

roslaunch rtabmap_ros demo_turtlebot_rviz.launch

the command was used. The launch file launched rviz with arguments of a config file, where can I learn about launching rviz with arguments?
I would be grateful if anyone can answer.

Hello @hrushikesh.kyathari,

Yes, youa re right, the move_base node is not required for the mapping process, we just add it so that we have an unified launch for both the mapping and localization process (where the move_base node is used).

As for the Rviz question, it’s very easy. You just need to use the following launch format:

  <node type="rviz" name="rviz" pkg="rviz" args="-d $(find package_name)/rviz/config_file.rviz" />