Re: Obstacle Avoidance during map construction.

Posted by uzairazhar on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1211.html

I am using the following files to do autonomous navigation.
$ rosrun move_base move_base
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth_registered/image_raw camera_info:=/camera/depth_registered/camera_info
$ rosrun tf static_transform_publisher 0 0 0 0 0 0 /base_footprint /camera_link 100
$ roslaunch rtabmap_ros rgbd_mapping.launch frame_id:=base_footprint rtabmap_args:="--delete_db_on_start" rtabmapviz:=false subscribe_scan:=true
$ roslaunch rtabmap_ros navigation.launch map_topic:=/rtabmap/grid_map//file added in opt
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

->I am using rtabmap 0.10.
->Also costmaps are also not publishing anything.