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

Posted by RTABPK on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-Avoid-Collision-Obstacle-while-navigating-using-rtabmap-ros-and-navigation-stack-tp6309p6322.html

Hi matlabbe,

I incorporated all the changes you recommended and ran the rtabmap in localization mode. but my robot never localizes itself.

Here is what happens,

my map does not appear in the beginning,  which is due to setting "RGBD/SavedLocalizationIgnored" to false.

Here is what I do,

I ran rtabamp in localization mode, open rviz, and tele-operate the robot so that it can localize itself. But the map never appears, no matter how hard I try and how many times I visit the same place. It means robot never localizes itself. And please note that I tried rtabmap with "Reg/Strategy" 0 and 1 separately but all in vain.

I think that could be the reason the robot collides with obstacles.

Please guide how can I get out of this situation.

Thanks