Re: Turtlebot RTABMap Demo - Path through Obstacle

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Turtlebot-RTABMap-Demo-Path-through-Obstacle-tp2905p2909.html

Hi,

For the straight line, this may be the same issue as this one. This is solved by using "rtabmap_ros::StaticLayer" instead of "costmap_2d::StaticLayer" here.

1. Color may depend on the ROS distribution, though in your screenshot it seems ok. You can see the "Map" rviz plugin parameters for different overlay (e.g., costmap color vs gray grid).

2. On this demo, the goal is sent directly to move_base, so it is normal that rtabmap/path is showing nothing. You may go in RVIZ->Tool Properties panel (the right panel of the video on this page) and change 2D Nav goal topic for "/rtabmap/goal". Note the the output goal of rtabmap "/rtabmap/goal_out" should be connected to input goal of move_base. Another way to connect rtabmap to move_base is to use actionlib interface by setting "use_action_for_goal" parameter to true for rtabmap node (move_base may need to be remapped if not in "move_base" namespace).

3. Yes, is depends on the turtlebot configuration (maybe there are changes between ROS distributions), though the ones you said seems the correct default ones.

4. --

5. the local costmap is based on turtlebot configuration files, so independent of rtabmap.

cheers,
Mathieu