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

Posted by seanxu112 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-Global-Map-using-ZEDm-causing-obstacle-avoidance-navigation-problem-tp6039p6045.html

Hi Mathieu,

Thank you for the quick response. Do we need to use openni for the tutorial? Is the topic "cloudXYZ" an openni subscribed topic?

Since we are using ZED camera, we do not have disparity/camera_info, should we just use depth/camera_info?

On a different topic, since I am using a custom robot, the robot is not rotating w.r.t its center of mass. Does the navigation stack make the assumption that the robot rotate w.r.t the base_footprint frame? I understand this is a rtabmap forum, so it is perfectly fine if you do not answer this question.

Thank you for answering all my questions.

Sincerely,
Sean