Re: Stereo Navigation and Mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Stereo-Navigation-and-Mapping-tp619p620.html

Hi,

1. Is base_footprint transform published on TF? What is your TF tree? Well, all rtabmap nodes have not "frame_id" redefined, which is "base_link" by default. If you have only base_link published, you may change the "base_footprint" frame in the yaml files to "base_link".

2. "stereo_nodelet" is not created (at least in the launch file provided), so move_base will not receive the "/planner_cloud" for the local costmap.

3. The map_assembler node is not connected in the graph (looks like map_optimizer missing). In current rtabmap_ros version, you don't need map_optimizer or map_assembled. You can connect directly the "rtabmap/proj_map" to "/map" used by move_base so the global costmap can be created. To have the point cloud, rtabmap node publishes "rtabmap/cloud_map" for convenience. See the doc for corresponding parameters.

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
     <remap from="proj_map" to="/map"/>
...

cheers