RE: 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-tp1259p1300.html

Hi,

The scripts are sending poses to move_base. It should not have any difference between goals sent by the scripts and the ones sent using RVIZ. However, in both cases, rtabmap should be running to provide the map to move_base.

The height of the camera is not important in general for mapping or navigation. However, on Turtlebot, the fake laser scan from the kinect is used for the obstacle layer (see here) used by move_base. In this case, you should put the camera lower to be able to detect obstacles. The Pi Robot is using a LiDAR on its base, so its camera can be set higher. You can see here that the fake laser scan is using the points on the center horizontal line (10 pixels wide) of the depth image of the camera. So if the camera is 30 cm over the ground, it will not detect obstacles under 25/30 cm.

For a better segmentation of the obstacles for the costmap, you can look at this move_base parameters that we use on our robot (in particular the obstacle and ground clouds):
- obstacle_layer: link
- obstacles_detection nodelet: link

For debugging, I recommend to show the local costmap and global costmap used by move_base in RVIZ.

cheers