Navigation using Rtabmap or using amcl and navigation stack

[Riddhiman]

I will list all my steps clearly, including my git repo. If anyone needs anything, feel free to tell me.

1)Run RosAria on the robot pc. Connects well, publishes odom->base_link transforms well and good.

2) On the piggyback laptop, roslaunch freenect_launch freenect.launch depth_registration:=true. For my kinect, of course

3)rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth_registered/image_raw. For fake laser data

4)roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete-dbs-on-start" rviz:=true rtabviz:=false, gives me map->odom transform.

5) Run teleop in the remote pc. I generate a 2-d map in rtabmap, save it on map_server

6)Roslaunch p3dx_navigation move_base_rosaria.launch. open rviz, 2d point estimate works well. Not perfect, but not too bad either.

7)Set a goal using 2d Nav goal. Here i get all sorts of errors as follows

[ERROR] [1529929504.112153804]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

[ WARN] [1529929504.112746594]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.5540 seconds

[ WARN] [1529929514.661682065]: Costmap2DROS transform timeout. Current time: 1529929514.6616, global_pose stamp: 1529929514.3319, tolerance: 0.3000

[ WARN] [1529929514.707078373]: Could not get robot pose, cancelling reconfiguration.

If anyone can help me it would be a godsend.

Here is the link to my github repo.

https://github.com/RiddhimanRaut/NewRepo

[matlabbe]

Hi,

As you have already odometry from RosAria, disable visual odometry to avoid TF problems (two nodes publishing on same TF) and remap frame_id to your base link of the robot (e.g., base_link) and odom_topic to RosAria odometry topic (e.g., /odom). Assuming the robot navigate on a ground plane, you may also want to do 2D mapping and maybe use laser scan for the map.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Reg/Force3DoF true" \
rviz:=true rtabmapviz:=false visual_odometry:=false frame_id:=base_link odom_topic:=/odom \
subscribe_scan:=true scan_topic:/scan

For steps 6 and 7, it is more related to amcl/move_base than rtabmap as I assume rtabmap is not used at this point.

cheers,
Mathieu