Re: Using RTAB with Manipulator

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-with-Manipulator-tp11147p11188.html

The warning is maybe coming from RGBD/NeighborLinkRefining, set it to false.

but when I start a planning to take the robot from "A" to "B", the environment captured in the path is not built. Once it has stopped in pose "B" the environment captured by the camera in this position is well built.

At 0.3 Hz, of the trajectory is done under 3 seconds, there could be no update during the motion.

Finally, since I am creating a controller in the operational space based on the error of the robot's pose estimates and that takes as input the SLAM estimates of the end-effector's poses, if I use TF the error would be zero or almost zero. Is there a way to obtain the SLAM estimate? Or is it not possible in this configuration?

In the current setup, the SLAM combination is disabled, it does only the "M" (mapping) part with pose input from TF or the position output of your robot arm's controller. As I said before, that setup is exactly like if you used octomap_server directly. I don't recommend to do SLAM on the end effector (even if possible), as it will be always less accurate (and can drift) than using the robot arm's controller output directly (which would be faster, more accurate and never drift), unless it is used to track the base position of the arm, though in your case it is fixed.

Is it the rtabmap.db file that is saved in "home/user/.ros/"?

Yes