RTAB Map based Navigation of Turtlebot

[namjoshiniks]

Hi Mathieu,


Me and my team are trying to implement indoor robot navigation using turtlebot and RTAB Mapping. We are new to ROS and Computer Vision. We saw this post of yours which has all the steps to make iRobot naviagte using the map built by RTAB Mapping. However we plan to make some more modifications to it like adding an IMU to make the navigation even better and incorporate deep learning to identify 3D objects from the 3D point clouds. Is the solution to the link mentioned above, open sourced ? If not then can you suggest how should we proceed if we want to establish Obstacle Avoidance using input from RTAB maps? I also saw this link of yours. But I am not sure if we will be able to modify the source code or not.

Thanks a lot for your time!

Regards,
Nikhil

[namjoshiniks]

Just to add to above.

We are using Asus Xtion Pro depth camera, iRobot Create 2 as our robot base and Jetson TX2 as our development platform.

[matlabbe]

Hi,

In ros wiki pages of the packages (i.e., rtabmap_ros), there are always links to source repository (github) at the top. Yes, it is open source.

See navigation stack for planning, obstacle avoidance... rtabmap just provides a map for the global planner, like described in turtlebot+rtabmap tutorial.

cheers,
Mathieu

[namjoshiniks]

Thanks a ton Mathieu