Re: Using Kinect2 and LiDAR to Map and Navigate

Posted by jingyu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Kinect2-and-LiDAR-to-Map-and-Navigate-tp6599p6609.html

Thank you so much for your quick response!

1. Now I am trying to add another laser using the pointcloud_to_laserscan into the costmap (I fed with kinect2/qhd/points) but it does not work well (I put the kinect at an angle about 15 degrees to look at the ground so I don't use the depthimage_to_laserscan). I think the node works but it cannot detect the obstacles very accurately. Sometimes the obstacles it shows on rviz don't match its real location. I guess if it is due to the tf transform problem. I noticed a tf transform to do optical rotate of kinect2. I chose the goal frame of pointcloud_to_laserscan to be my kinect_link or Kinect_base_link, but still not works. Could you please tell if there is anything wrong or just if it is possible to do so.
2. I am using the second approach with only lidar as observation source during navigation. It works because the small obstacles are static at my experimental site. I will try later using the obstacle_cloud you mentioned and update soon.
3. My goal is to make the robot navigate within the constructed map to collect Wi-Fi RSSI fingerprint. The problem I have is that if it is possible to publish a goal to RTABmap and repeat when the previous goal is reached. Another problem is how to find the map's size and how to check if a point is obstacle? I proposed to use a loop to generate an array of points (based on map's size) to reach to collect data. I think I should be able to check if the current goal is at obstacle. Will the planner tell?
4. Can I complete my goal just at the mapping stage? I noticed a Wifi Signal Strength Mapping (User Data Usage) tutorial. Can it detect signal strength to multiple APs? When the map is corrected, will the coordinates of the Wi-Fi signal strength be updated? Can I export the data to other usage?? The format I wish is like [x1 y1 MAC1 dBm1 MAC2 dBm2 ...
x2 y2 MAC1 dBm1 MAC2 dBm2 ...]

Sorry for so many questions... I really appreciate your reply!