Re: Navigation with Rtabmap and Stereo Camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10652.html

Hi,

One option is to use http://wiki.ros.org/depthimage_to_laserscan and use an obstacle layer in move_base with the generated topic. Refer to http://wiki.ros.org/navigation/Tutorials/RobotSetup ("laser_scan_sensor")

If you want to filter all obstacles over a the floor (and if the camera is tilted), you can use http://wiki.ros.org/pointcloud_to_laserscan (from a point cloud generated from the depth image of your camera).

If you need to detect ground versus obstacles on a 3D terrain, you can follow this example http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorNavigation or this one (and corresponding costmap settings, not that this config was used in this paper, see Figure 6 for example)

For your error, it seems openni_points topic is not published/generated.

cheers,
Mathieu