RE: 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-tp1259p1287.html

Oh, actually in goforward.py, it just moves the robot, but in the files such as goforward_and_avoid_obstacle.py and go_to_specific_point_on_map.py, it seemed to use move_base. So I thought go_to_specific_point_on_map.py could do the same thingas Rviz, but in performance it fell short. I thought that difference is because you also made the 2D navigation (via Rviz) code. Reason of thinking like that was because when I did the 2D navigation without rtabmap, it seemed not to avoid dynamic obstacle, so I supposed they(with rtabmap and without) used different algorithm(code). Anyway haven't ever heard about the code?.. like 2D navigation at rviz with rtabmap. If it uses move_base, does that means it follows same algorithm with others also using move_base?(According to http://wiki.ros.org/move_base, I think it should. Would the fact that 2D navigation without rtabmap doesn't use point cloud be the reason of not being able to avoid dynamic obacles?)(Also, there I only find Laser scan and point clouds. Is the RGB and Depth image reflected in point clouds? If so, isn't the order Image -> Point cloud -> navigation take time for suddenly showing up dynamic obstacle? When I do the navgiation, sometimes when it curve around,it fails to avoid obstacle that is not seen before but shows up right after turning.)Thank you. I with it doesn't bother your time.