Re: rtabmap in my robot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-my-robot-tp1350p1373.html

Hi,

1) Yes. You can run move_base and rtabmap at the same time. rtabmap will provide a static map (/rtabmap/grid_map or /rtabmap/proj_map) to move_base so that it can create a global costmap (used to make global plans). You can look at the navigation tutorials and set the following to connect your 2D map to move_base:

<launch>
  <!--- Run RTAB-MAP -->
  <include file="$(find rtabmap_ros)/launch/rgbd_mapping.launch">

    <!-- Set to false if you want to use wheel odometry -->
    <arg name="visual_odometry" value="true"/> 

  </include>
  <remap from="/rtabmap/proj_map" to="/map"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

2) You are using the standalone, you can close it and save it somewhere. If you want to use it under ROS, copy it to ~/.ros/rtabmap.db and rtabmap node will load it automatically when rgbd_mapping.launch is started. Note that you may not want to use SURF features for odometry, only for the loop closure detector's vocabulary.

3) It should, most ground robots are. However, you may have to setup your robot to be move_base compatible. Following the links in the referred link in 1).

cheers