Re: Obstacle Avoidance during map construction.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1359.html

Hi,

/rtabmap/proj_map would be the input of the global costmap, not the local costmap. The local costmap is created directly from the sensors' values (defined in obstacle_layer parameters). The global costmap would be a mix of  a static_layer (with /map as input) + obstacle_layer (optional) + inflation_layer. The local costmap should have the obstacle_layer + inflation_layer.

I am not sure what is the blank spot as the /map seems ok. However the costmap looks having big cells. Note that a cell resolution of 0.125 is quite high. By default, cell resolution is 0.025 m and 0.05 m for the local and global costmaps respectively.

cheers