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

Posted by matlabbe on Oct 08, 2019; 8:54pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-Avoid-Collision-Obstacle-while-navigating-using-rtabmap-ros-and-navigation-stack-tp6309p6325.html


For the collisions, it is more a costmap problem. Even with poor localization, the robot should never hit anything. Show the local costmap in rviz, also show the footprint of the robot. Maybe the footprint is not big enough or the sensor used to update the local costmap doesn't see the obstacle. Make sure also that footprint clearing parameter in the local costmap is set to false (use rqt_reconfigure).

Without a map, the robot cannot localize. If you did a mapping session, then reload it in a localization session, you should revisit the same locations with the same camera point of view. Go back to a known location, if not localizing, look at the terminal for possible rejection warnings.

cheers,
Mathieu