Autonomous Navigation with Hand Held mapping

[Wonhelm]

Hello,

 I am using rtabmap along with Kinect 360 in ROS Indigo and Ubuntu 14.04, using freenect, visual odometry and demo_turtlebot_maping. I want to know if there is a way to use navigation stacks from ROS like move_base to generate some path planning in real time, i don't have motors to use the commands of move_base but i want to use it to make some type of UI like a compass for the user.

obs: i already tried this tutorial MappingAndNavigationOnTurtlebot and i do not found the steps in this Tutorial referred on step 3 of the previous one.
 
Thank you.

[matlabbe]

Hi,

The link is pointing at the right place, but the section numbers have changed to 2.3.2. I updated the rtabmap wiki.

You may want to setup only the global planner of move_base and feed it the occupancy grid map created by rtabmap. It could be similar to turtlebot demo. Well, if you don't need most of move_base stuff (costmap, inflation/obstacle layer, local base planner, robot parameters like max/min velocity/acceleration, time constraints...), you may consider subscribing to /rtabmap/grid_map and do a simple planner like A*.

cheers,
Mathieu

[Wonhelm]

Hello and Thank You Mathieu,

  After some snoop into Rviz with demo_turtlebot_mapping.launch i found topics of navigation stacks already running:


The following topics are working for what i want:
/move_base/DWAPlannerROS/global_plan
/move_base/NavfnROS/plan

But after the nav goal is set they don't update the path for new locations, only when the visual odometry fails and i have to move the kinect around to find the last localization valid, after that the path is updated.


I am searching into move_base and its parameters for a way to fix that.  Thank you.

[matlabbe]

Hi,

The path should be refreshed when move_base receives a new map (which would happen by default at 1 Hz). See the green path in this video:
https://youtu.be/GSbsiY9r3NA

I did this small example with section 5. If you don't have the robot using only a kinect (without actual turtlebot).

cheers,
Mathieu