Re: rtabmap mapping

Posted by yyz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-mapping-tp3680p3716.html

I am using move_base and my base_local_planner_params file:

TrajectoryPlannerROS:

 max_vel_x: 0.5
 min_vel_x: 0.24

 #max_rotational_vel: 0.15
 #min_in_place_ratational_vel: 0.01
 min_in_place_vel_theta: 0.25
 max_vel_theta: 0.5
 min_vel_theta: -0.5
 acc_lim_theta: 4
 acc_lim_x: 0.75
 acc_lim_y: 0.75
 holonomic_robot: true


 xy_goal_tolerance: 0.25
 yaw_goal_tolerance: 0.25
 latch_xy_goal_tolerance: true

 sim_time: 1.5
 sim_granularity: 0.025
 angular_sim_granularity: 0.05
 vx_samples: 12
 vtheta_samples: 20

 meter_scoring: true

 pdist_scale: 0.7
 gdist_scale: 0.8
 occdist_scale: 0.01
 publish_cost_grid_pc: false

 controller_frequency: 10

 NavfnROS:
  allow_unknown: true
  visualize_potential: false