Re: Move_base with rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Move-base-with-rtabmap-tp3048p3056.html

Hi,

The "Grid/****" parameters can be used with obstacle_detection nodelet and with rtabmap node:

$ rosrun rtabmap_ros rtabmap --params | grep Grid/
Param: Grid/3D = "true"                                    [A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and "Grid/FromDepth" is false.]
Param: Grid/CellSize = "0.05"                              [Resolution of the occupancy grid.]
Param: Grid/ClusterRadius = "0.1"                          [[Grid/NormalsSegmentation=true] Cluster maximum radius.]
Param: Grid/DepthDecimation = "4"                          [[Grid/DepthDecimation=true] Decimation of the depth image before creating cloud. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).]
Param: Grid/DepthMax = "4.0"                               [[Grid/FromDepth=true] Maximum cloud's depth from sensor. 0=inf.]
Param: Grid/DepthMin = "0.0"                               [[Grid/FromDepth=true] Minimum cloud's depth from sensor.]
Param: Grid/DepthRoiRatios = "0.0 0.0 0.0 0.0"             [[Grid/FromDepth=true] Region of interest ratios [left, right, top, bottom].]
Param: Grid/FlatObstacleDetected = "true"                  [[Grid/NormalsSegmentation=true] Flat obstacles detected.]
Param: Grid/FootprintHeight = "0.0"                        [Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.]
Param: Grid/FootprintLength = "0.0"                        [Footprint length used to filter points over the footprint of the robot.]
Param: Grid/FootprintWidth = "0.0"                         [Footprint width used to filter points over the footprint of the robot. Footprint length should be set.]
Param: Grid/FromDepth = "true"                             [Create occupancy grid from depth image(s), otherwise it is created from laser scan.]
Param: Grid/GroundIsObstacle = "false"                     [[Grid/3D=true] Ground segmentation (Grid/NormalsSegmentation) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).]
Param: Grid/MapFrameProjection = "false"                   [Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.]
Param: Grid/MaxGroundAngle = "45"                          [[Grid/NormalsSegmentation=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.]
Param: Grid/MaxGroundHeight = "0.0"                        [Maximum ground height (0=disabled). Should be set if "Grid/NormalsSegmentation" is true.]
Param: Grid/MaxObstacleHeight = "0.0"                      [Maximum obstacles height (0=disabled).]
Param: Grid/MinClusterSize = "10"                          [[Grid/NormalsSegmentation=true] Minimum cluster size to project the points.]
Param: Grid/MinGroundHeight = "0.0"                        [Minimum ground height (0=disabled).]
Param: Grid/NoiseFilteringMinNeighbors = "5"               [Noise filtering minimum neighbors.]
Param: Grid/NoiseFilteringRadius = "0.0"                   [Noise filtering radius (0=disabled). Done after segmentation.]
Param: Grid/NormalK = "20"                                 [[Grid/NormalsSegmentation=true] K neighbors to compute normals.]
Param: Grid/NormalsSegmentation = "true"                   [Segment ground from obstacles using point normals, otherwise a fast passthrough is used.]
Param: Grid/ProjRayTracing = "true"                        [[Grid/3D=false] 2D ray tracing is done for each projected obstacle, filling unknown space between the sensor and obstacles.]
Param: Grid/Scan2dMaxFilledRange = "4.0"                   [Unknown space filled maximum range. If 0, the laser scan maximum range is used.]
Param: Grid/Scan2dUnknownSpaceFilled = "false"             [Unknown space filled. Only used with 2D laser scans.]
Param: Grid/ScanDecimation = "1"                           [[Grid/FromDepth=false] Decimation of the laser scan before creating cloud.]

Dynamic obstacles while standing still should be added temporary if "map_negative_poses_ignored" is false, which is the default. Which rtabmap version are you using? Is the obstacle added in local costmap or global costmap, or neither or both.

cheers,
Mathieu