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-tp10644p10816.html

Does this work?

roscd rtabmap_util

then this?

roscore
rosrun nodelet nodelet standalone rtabmap_util/obstacles_detection
type is rtabmap_util/obstacles_detection

In your launch file, is there a nodelet manager? You can also do:

<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="standalone rtabmap_util/obstacles_detection">
      <remap from="cloud" to="/stereo_inertial_publisher/stereo/points"/>
      <remap from="obstacles" to="/planner_cloud"/>
      <param name="frame_id" type="string" value="base_footprint"/>
      <param name="map_frame_id" type="string" value="map"/>
      <param name="min_cluster_size" type="int" value="20"/>
      <param name="max_obstacles_height" type="double" value="0.0"/>
</node>

In the example, we used disparity2cloud to downsample the point cloud because there would be too many points to process, slowing down the segmentation.

<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>

However with latest obstacles_detection implementation, the point cloud would be downsampled to 5 cm voxel by default (Grid/CellSize=0.05 and Grid/PreVoxelFiltering=true), so the overhead may not be too much to use the full resolution point cloud.