Posted by
Riddhiman on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-using-Rtabmap-or-using-amcl-and-navigation-stack-tp4702.html
I will list all my steps clearly, including my git repo. If anyone needs anything, feel free to tell me.
1)Run RosAria on the robot pc. Connects well, publishes odom->base_link transforms well and good.
2) On the piggyback laptop, roslaunch freenect_launch freenect.launch depth_registration:=true. For my kinect, of course
3)rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth_registered/image_raw. For fake laser data
4)roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete-dbs-on-start" rviz:=true rtabviz:=false, gives me map->odom transform.
5) Run teleop in the remote pc. I generate a 2-d map in rtabmap, save it on map_server
6)Roslaunch p3dx_navigation move_base_rosaria.launch. open rviz, 2d point estimate works well. Not perfect, but not too bad either.
7)Set a goal using 2d Nav goal. Here i get all sorts of errors as follows
[ERROR] [1529929504.112153804]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ WARN] [1529929504.112746594]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.5540 seconds
[ WARN] [1529929514.661682065]: Costmap2DROS transform timeout. Current time: 1529929514.6616, global_pose stamp: 1529929514.3319, tolerance: 0.3000
[ WARN] [1529929514.707078373]: Could not get robot pose, cancelling reconfiguration.
If anyone can help me it would be a godsend.
Here is the link to my github repo.
https://github.com/RiddhimanRaut/NewRepo