rtabmap navigation with ros, move_base and two cameras

[rafachao]

Hi Mattieu,

First of all, what an amazing work you made with rtabmap !!!!!

we have a robot using 2 realsense d435. Our setup is:
Ubuntu 20.04
Ros noetic
rtabmap standalone manually compiled for 2 cameras
rtabmap-ros compiled to use rtabmap standalone.

When we use mapping and navigation with just one camera, everything works fine.

When we use mapping with two cameras, everything works fine.

When we try to navigate using two cameras, the robot gets stopped without any reason. We didn't understand why, so we began to make some different tests, until we discover the next issue:

- When navigating, the robot stops without any reason, but if the robot "detects" a moving object (my hand, a person or whatever)  on any of rear or front camera, begins to move correctly and continues to its goal....

Do you think this is a rtabmap bug, or may be it is a "ros move_base" bug ????

Does anybody had a similar problem?

Thanks for your feedback !!!!!

Rafa

[matlabbe]

If you are not in localization mode during nagivating, it could come from rtabmap. However, it seems more likely to be a costmap issue. To debug this, show the costmaps in RVIZ, then move objects behind the robot to see where the costmap is updated.