Official RTAB-Map Forum - Re: Obstacle Avoidance during map construction.

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-tp1202p1275.html

The rqt_graph image above is resized, and cannot be read. I cannot find navigation.launch, is it homemade launch?

To change RTAB-Map's parameters, you don't have to change it in Parameters.h, you can do it in a launch file like this (example for odometry parameter):

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
   <param name="Odom/ResetCountdown" type="string" value="10"/>
   ...
</node>

The high variance is set on version 0.11.

You cannot start move_base on the command line directly. It requires config files (yaml) to setup the costmaps for example. See the navigation tutorial: http://wiki.ros.org/navigation/Tutorials/RobotSetup

cheers