Re: RTAB localization move_base no connection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-localization-move-base-no-connection-tp5940p5944.html

Hi,

To debug navigation, show also the costmaps in RVIZ. Look also for warnings/errors on terminal when you send a goal.

The 3D map doesn't seem to match the occupancy grid. Is tf correctly set between the base of the robot, the camera and the lidar? For example in RVIZ, if you set the fixed frame to base frame of the robot in global options and show up the camera point cloud, the ground in the cloud should match exactly the xy grid in RVIZ. Try also adding the laser scan to RVIZ to compare with the generated cloud from the camera, they should be aligned.

cheers,
Mathieu