Re: Problem with Navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problem-with-Navigation-tp1559p1560.html

Hi Mercedes,

I think the problem is in the costmap_common_params.yaml. Instead of:

point_cloud_sensor: {sensor_frame: zed_frame, data_type: PointCloud2, topic: /zed/point_cloud/cloud , marking: true, clearing: true} 

do:

point_cloud_sensor: {sensor_frame: base_footprint, data_type: PointCloud2, topic: /zed/point_cloud/cloud , marking: true, clearing: true} 

i.e., use /base_footprint as sensor_frame instead of /zed_frame. That way the point cloud will be transformed in your robot frame.

cheers,
Mathieu