How to connect Turtlebot3 and RTAB-Map and set up automatic navigation with monocular camera

[YuminosukeSato]

Overview

I am looking to connect Turtlebot3 with RTAB-Map for autonomous navigation using a monocular camera. I referred to the official Turtlebot Navigation Tutorial, but details on setting up autonomous navigation with RTAB-Map using a monocular camera seem to be lacking.

Objective

• Understand the precise method for connecting Turtlebot3 with RTAB-Map.
• Configure the system for autonomous navigation using a monocular camera.

Attempts

• I have completed the basic setup for Turtlebot3 and can remotely control it manually without issues.
• RTAB-Map installation is done, but I'm unable to find a clear guide on how to connect it with Turtlebot3.

Questions

1. What are the specific steps to connect Turtlebot3 with RTAB-Map?
2. Is there a detailed guide on configuring autonomous navigation with RTAB-Map using a monocular camera?
3. Are there recommended settings or important points to consider for successful autonomous navigation?