Mapping and Navigation with D435i and robot

Posted by Enllyn on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-Navigation-with-D435i-and-robot-tp6487.html

Hello,

I am trying to use the opensource_tracking.launch file provided by the realsense-ros package together with launch files from this robot, which is built on the Turtlebot3. I launch a modified version of gmapping.launch (attached below) on the robot side, without the lidar and gmapping node. The camera and rtabmap are run on a laptop, which is using ROS Kinetic.

While I can see the robot and maps in rviz, I cannot use the 2D Nav Goal tool to move the robot or view any costmaps in rviz. I have also tried to follow the solutions to some other questions and add in use_goal_for_action:=true, as I would like to be able to communicate with the action server. However, when use_goal_for_action is added in as a parameter to the opensource_tracking.launch file, it tells me that the parameter does not exist (and it does not, when I check rosparam list).

Any help would be greatly appreciated! Thank you.

opensource_tracking_localisation_test.launch
teb_move_base.launch
costmap_common_params.yaml
gmapping.launch