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-tp10644p10872.html

Hi,

If the system is able to identify the trees, maybe you don't need to store their position in the map. Otherwise, if the system can identity the trees while mapping, it could send a "tag_detections" topic to rtabmap with the relative position of the tree from the robot base link, with a unique ID. rtabmap will add it as a landmark. Landmarks are published in mapGraph topic and in landmarks topic. These positions could be used to trigger the spray.

If the system cannot identify the trees, but only labelled by a human looking at the map afterwards, there is no easy way to add this info in the map's database. The easiest way would be to save the positions labelled by the human in a separate file, then have a node publishing those poses (e.g., on TF) in map frame when the robot is navigating in the corresponding map.

cheers,
Mathieu