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-tp10644p10690.html


If /stereo_inertial_publisher/stereo/points is published and move_base is warning like that, I cannot really help more, except check if frame_ids and stamps are correctly set in the topics.

For abtr_priority, you can ignore it, I think it was used with an arbitration node to give priority from some cmd_vel over others. For example, having a teleop controller sending also cmd_vel, then having higher priority than move_base to send cmd_vel to the robot.

The data_throttle was used to avoid producing point clouds at 30 Hz if the costmap is updated only at 5 or 10 Hz.

cheers,
Mathieu