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

Posted by matlabbe on Oct 08, 2019; 2:23am
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-Avoid-Collision-Obstacle-while-navigating-using-rtabmap-ros-and-navigation-stack-tp6309p6316.html

Hi,

Yes, you have to choose between rtabmap or amcl for localization. In that kind of environment (very symmetric), it may be challenging for visual localization. In my tests, the robot was jumping around in the map because of wrong localizations. If you want to try AMCL instead, you can use map_server's map_saver node to save the map so that it can be used by amcl (like in this tutorial). Then when starting AMCL, don't start rtabmap node at the same time.

cheers,
Mathieu