Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1856.html

Hi,

1. The costmap or the map? What is the error status?
2. /octomap_proj requires to build a 3D OctoMap, so it requires a lot more processing power (3D ray tracing). If your environment is static, you may want to disable current cloud integration to OctoMap to save some computation power:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="map_negative_poses_ignored" type="bool" value="true"/> 
   [...]
</<node>

3. If an obstacle appears on the goal, move_base will fail planning.
4. See your local costmap parameters. In particular for this Turtlebot demo, I think only a fake laser scan from the kinect is used for the local costmap. The part 2 of the chair is quite difficult to detect though even with a rtabmap_ros/obstacles_detection nodelet approach (an example of usage for the local costmap can be found here).

cheers