how to do object detection and collision avoidance with Rtabmap?

[Masoumeh]

Hi everyone,

I have lidar, odometry and Imu, and in this step i am able to run the rtabmap, and have rtabmap topics. Now, I want to do object dection and collision avoidance. I mean in rviz by specifying a goal for the robot, it do object detection and detour them, and move thowrd its destination. How can I do this?

thanks

[Masoumeh]

Hi,

I have added the folloing line to my rtabmap launch, but I got the foollowing error:

<!-- Find-Object -->
  <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
    <param name="gui"             value="true" type="bool"/>
    <param name="settings_path"   value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
    <param name="subscribe_depth" value="true" type="bool"/>
   <!-- <param name="objects_path"    value="$(find rtabmap_ros)/launch/data/books" type="str"/>-->
		
    <remap from="rgb/image_rect_color"         to="/camera/data_throttled_image"/>
    <remap from="depth_registered/image_raw"   to="/camera/data_throttled_image_depth"/>
    <remap from="depth_registered/camera_info" to="/camera/data_throttled_camera_info"/>

    <param name="rgb/image_transport"              type="string" value="compressed"/>
    <param name="depth_registered/image_transport" type="string" value="compressedDepth"/>
  </node>
  
  <!-- Save objects to database example -->
  <node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_ros" type="save_objects_example" output="screen">
    <remap from="mapData" to="/rtabmap/mapData"/>
    <param name="frame_id" value="base_link"/>
  </node>
  
  <!-- Convert objects to tags -->
  <node if="$(arg save_objects_as_landmarks)" name="objects_to_tags" pkg="rtabmap_ros" type="objects_to_tags.py" output="screen">
    <remap from="tag_detections" to="/rtabmap/tag_detections"/>
    <param name="distance_max" value="2.0"/>
  </node>

ERROR:
object_detection.png


thanks

[matlabbe]

For the error, it seems that velodyne_base_link doesn't exist. I suggest to use:

rosrun tf2_tools view_frames.py 

to debug TF.