Can Navigation avoid obstacle not in the map, indoor rtab?

Posted by zelda on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-Navigation-avoid-obstacle-not-in-the-map-indoor-rtab-tp1259.html

As I mentioned on the subject, is there way for my robot to avoid the obstacle which suddenly appeared,
so not on the map, during the navigation? (indoor, using rtab navigation.
http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot)

Watching this video, https://www.youtube.com/watch?v=X885QsH0szo
if I just see the left one of two 2D maps, the robot avoids the obstacle appeared on the sight. Is it avoiding via
3d map, or just because the obstacle is already registered on the map(right side one)?

If it is necessary, should I change the code of mobile_base?
Thank you.