Re: Navigation with stereo camera only

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-stereo-camera-only-tp9991p10008.html

I think in local costmap parameters the origin should have an offset:

  origin_x:  -2
  origin_y:  -2

In global costmap parameters, "rtabmap_ros::StaticLayer" should be changed to "rtabmap_costmap_plugins::StaticLayer" after packages have been renamed.

As long as the global costmap is empty or the local costmap is empty, the robot will plan direct path through obstacles. Try fixes above to see if the costmap can be correctly generated.