Obstacle avoidance failing with rplidar

Posted by aldux on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-avoidance-failing-with-rplidar-tp3790.html

Hi!

I have a turtlebot 2 with a kinect v1 and a rplidar a2.

When launching the rtabmap demo launch with kinect, the map is created and the obstacle avoidance works flawlessly, its amazing!

When switching to lidar, I removed the /scan part on the 3dsensor.launch of the turtlebot bringup and I'm able to generate a nice map, the lidar works nicely. But the problem is that obstacle avoidance is not working... if a new object (I use a garbage can) is in front of the robot path it will go straight and crash to it, while with the kinect only the robot replans in order to avoid the garbage can...

Maybe I integrated the lidar in an incorrect way?