Re: How to Avoid Collision (Obstacle) while navigating using rtabmap_ros and navigation stack
Posted by matlabbe on Oct 08, 2019; 2:28pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-Avoid-Collision-Obstacle-while-navigating-using-rtabmap-ros-and-navigation-stack-tp6309p6323.html
The environment is very repetitive with a very low number of visual features. This is not suitable for visual localization. In your case, no visual localization seems possible. I would keep "RGBD/SavedLocalizationIgnored" to false (to show map on start) and drop a "2D pose estimate" in RVIZ on /rtabmap/localization_pose topic to manually localize it. The proximity detections with the lidar would refine that localization afterwards.