Re: Autonomous Navigation with Hand Held mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-with-Hand-Held-mapping-tp4208p4209.html

Hi,

The link is pointing at the right place, but the section numbers have changed to 2.3.2. I updated the rtabmap wiki.

You may want to setup only the global planner of move_base and feed it the occupancy grid map created by rtabmap. It could be similar to turtlebot demo. Well, if you don't need most of move_base stuff (costmap, inflation/obstacle layer, local base planner, robot parameters like max/min velocity/acceleration, time constraints...), you may consider subscribing to /rtabmap/grid_map and do a simple planner like A*.

cheers,
Mathieu