RE: RE: RE: Re: Rtabmap mapping done but can't do relocalization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1280.html

The wait_for_transform parameter is here. For "robot.launch.xml", maybe it is not the one used by your robot. Try to track down where the robot_state_publisher is created in your launch files.

Make sure the goal topic sent is correctly sent to move_base.

If it can help, I tried again the Mapping and Navigation Tutorial (with robot.launch.xml frequency set to 10 Hz). I don't have the robot, so I should follow the last section:
1)

$ roslaunch turtlebot_bringup minimal.launch

I have 10 Hz frames:


2)

$ export TURTLEBOT_3D_SENSOR=kinect
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" rgbd_odometry:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

3) Drop a 2D nav goal in RVIZ, show the local planner path for debugging (hide the robot model to see it, the green line below!)

$ rostopic echo /mobile_base/commands/velocity
---
linear: 
  x: 0.12500000298
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.347368433601
---
linear: 
  x: 0.0500000029802
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.378947376264
...

Well, if I had a robot, it think it would move as the velocity values are sent.

cheers