Re: 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-tp1259p1284.html

Thank you! Now I could check if it avoids dynamic obstacle, and it did! ( I suddenly showed up  during the navigation. Turtlebot paused for a moment, and rotated around me and go normally.)

By the way, I have a question. Since the  "2D navigation we did with rtabmap, via rviz"(shown in http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot) uses move_base, is the algorithm for planning same with algorithms used in python file in "http://learn.turtlebot.com/2015/02/01/10/" here? Looking at go_forward_and_avoid_obstacles.py file, I could see that they uses "simpleActionClient" with "move_base".

The reason I am asking because I want to perform the same performance as "2D navigation via RViz(with rtabmap)" by code, but when I did following the code there, it was quite different.

It moved, planned similarly when no noticable obstacle was present. But, when I used dynamic obstacle, it was very fuzzed, even (often) showing Aborted navigation error.(In contrast, with RViz 2D navigation, it almost goes well, with dynamic obstacle avoiding).

1) Are they fundamentally similar to each other?
2) Is there way to earn code that could perform same/similar with the performance by "2D navigation in RViz"?