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-tp6309p6334.html

Hi matlabbe,

i m using rtabmap for localization and invoke move_base from within the rtabmap launch file already attached to my previous comment.

 I get this message in the terminal where rtabmap is running in localization mode.

[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters


my ICP parameters is as follows,

[param name="Icp/CorrespondenceRatio"      type="string" value="0.1"]

does it has to do anything with poor localization and obstacle avoidance?

when I give 2D goal command using rviz , I get this message,

Got a new plan,

with following warning,

Received an empty transformed plan

please guide,


Thanks in advance