Re: Robot stuck in it own footprint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-stuck-in-it-own-footprint-tp3301p3423.html

Hi,

1) Maybe in this code there is some topic remapping required as move_base is in planner namespace, like "/planner/cmd_vel" to "/cmd_vel"

<!-- ROS navigation stack move_base -->
  <group ns="planner">
     <remap from="odom" to="/odom"/>
     <remap from="scan" to="/scan"/>
     <remap from="obstacles_cloud" to="/obstacles_cloud"/>
     <remap from="ground_cloud" to="/ground_cloud"/>
     <remap from="map" to="/rtabmap/grid_map"/>
     <remap from="move_base_simple/goal" to="/planner_goal"/>
     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
     </node>
   		
  </group>

2) It is not required that the lidar and camera is on the robot, as long as TF between base_link and the lidar/camera frames are accurate. Azimut has lidar and camera carefully aligned together (TF or urdf), along with base_link.

cheers,
Mathieu