Re: Navigation using Rtabmap or using amcl and navigation stack

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-using-Rtabmap-or-using-amcl-and-navigation-stack-tp4702p4722.html

Hi,

As you have already odometry from RosAria, disable visual odometry to avoid TF problems (two nodes publishing on same TF) and remap frame_id to your base link of the robot (e.g., base_link) and odom_topic to RosAria odometry topic (e.g., /odom). Assuming the robot navigate on a ground plane, you may also want to do 2D mapping and maybe use laser scan for the map.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Reg/Force3DoF true" \
rviz:=true rtabmapviz:=false visual_odometry:=false frame_id:=base_link odom_topic:=/odom \
subscribe_scan:=true scan_topic:/scan

For steps 6 and 7, it is more related to amcl/move_base than rtabmap as I assume rtabmap is not used at this point.

cheers,
Mathieu