Re: question about create map for navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/question-about-create-map-for-navigation-tp2717p2719.html

Hi,

You can use parameter "Grid/MaxObstacleHeight" (in meters). This assumes that the camera is fixed on the robot and the robot is moving on the ground (filtering is done in "frame_id" frame).

For UAV or hand-held mapping, the robot/camera must first be aligned to ground (you can use "Odom/AlignWithGround" for that if rgbd_odometry is used), then set also "Grid/MapFrameProjection" to true so that filtering is done in /map frame. This approach cannot handle 3D terrain or multi-floor.

For car navigation, I would try first the standard navigation stack of ROS using 2D occupancy grid map and possibly an ackermann planner. Another post here.

cheers,
Mathieu