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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-Navigation-avoid-obstacle-not-in-the-map-indoor-rtab-tp1259p1286.html

Hi,

In your link you posted, the nodes are publishing directly cmd_vel to robot controller. There is no obstacle avoidance. It is like I close my eyes and I move 1 meter forward.

In contrast when using move_base, we set goals and move_base sends cmd_vel messages depending on the obstacles detected to reach that goal. If you want to go forward, you can drop goals 1 meter in front of the robot each second for example, and if there is an obstacle, move_base will avoid it.

EDIT: ok just saw the repository, they are doing like I said in the second paragraph. Note that if a dynamic obstacle appears on the goal, the planner may fail (goal is unreachable).

cheers