Re: Navigation with Rtabmap and Stereo Camera

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10921.html

Hi,
Thank you for helping. I have one follow up question regarding the PointClouds in rtabmap. In your example "this" you are using the base_scan topic also but in my case i am using only the PointClouds from my topic. I want to know which data i should used for PointClouds to navigate perfectly with move_base to avoid obstacles and other things.
I tried below:
1: when i am just using the pointclouds coming from my camera node in move_base params, i am getting the warnings regarding the sensor data updates and robot just move litlebit and then it stops.
2: When i used the rtabmap_util/obtsacle detection node. In obstacle detection lo i am using the pointclouds generated from my camera. I am getting the same warnings and problems like above.
3: When i changed the Pointclouds data in the move_base params to rtabmap/cloud_map, this works well and the robot reached to the goal perfectly.

My question is that I am not sure that my local path will avoid the dynamic obstacles with this sensor data or not?Do you have any idea which pointclouds i should use from rtabmap for the navigation.