Re: How to Avoid Collision (Obstacle) while navigating using rtabmap_ros and navigation stack

Posted by matlabbe on Oct 08, 2019; 1:39am
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-Avoid-Collision-Obstacle-while-navigating-using-rtabmap-ros-and-navigation-stack-tp6309p6313.html

Hi,

To avoid restarting at the last location after restarting rtabmap, set RGBD/SavedLocalizationIgnored to false. Here are some changes I've made to use also the lidar for more accurate mapping:

<param name="RGBD/SavedLocalizationIgnored"  type="string" value="true"/>
<param name="RGBD/NeighborLinkRefining"      type="string" value="true"/>
<param name="Reg/Strategy"                   type="string" value="1"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="5"/> 

I saw also a problem with the scan topic, it was published by two nodes: the lidar and the fake scan from kinect. In spawn_husky.launch, change output scan name of pointcloud_to_laserscan to camera_scan. It is maybe the problem why at some point the robot collided with obstacles, if the scan from camera cleared obstacles from those added by the lidar.

cheers,
Mathieu