Re: Noisy Global Map using ZEDm causing obstacle avoidance navigation problem

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-Global-Map-using-ZEDm-causing-obstacle-avoidance-navigation-problem-tp6039p6044.html

Hi Sean,

I don't know what is your configuration (launch fiels, robot, sensors...), but if you have a lidar but you want the map created from the camera, set Grid/FromDepth to true.

From that tutorial, you should not subscribe to /rtabmap/cloud_obstacles. The local costmap in the tutorial is connected to output of obstacles_detection nodelet (obstacles derived directly from the camera). The local costmap should not subscribe to any topic from rtabmap node (like in that tutorial).

cheers,
Mathieu