Re: Obstacle Avoidance during map construction.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1203.html

Hi,

You may want to take a look at the turtlebot tutorial.

The general approach is to feed the generated map (/rtabmap/grid_map or /rtabmap/proj_map) from rtabmap to move_base's global map. Actual obstacles avoidance is done using move_base local costmap, see this tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup

cheers