Navigation Path Planning - only follows graph map paths

[joshcorn]

Hi there,
I am trying to integrate my navigation stack (GlobalPlanner, dwa_local_planner, move_base) with rtabmap and I understand that I should send goals through rtabmap instead of directly to move_base in order to have the goals update with localization. The issue is that when I send nav goals through Rviz (/rtabmap/goal) the path that is generated is only along the original paths that were created during mapping as shown in the graph map. It always snaps the robot back along those lines. If I send the goal directly to /move_base_simple/goal however, a new path is planned but when a closure occurs, the goal location doesn't update. I would like the global and dwa_local planners to handle the path but only have rtabmap produce and update the nav goal. Is that possible?

Thanks in advance!
-Josh

[matlabbe]

Hi Josh,

You may try to increase the local planning radius of rtabmap (RGBD/LocalRadius, default 10 meters), so that goals farther on the path will be sent to move_base, thus letting more flexibility to move_base's global planner to plan further away form rtabmap's graph and maybe find some shortcuts. Note that following the graph helps to get better localizations. You may send directly goals to move_base when doing exploration, but to come back to a mapped area, maybe it is better to follow the graph to not get lost.

cheers,
Mathieu

[joshcorn]

Thanks again Mathieu, this was very helpful! Loving the software too - great job!