Re: Autonomous Navigation

Posted by willzoe on Apr 24, 2020; 7:19pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p6617.html

Hi,

I now use depthimage_to_laserscan to convert the depth image generated by the stereo camera to scan, and use it as the LaserScan type observation_sources to generate the obstacle_layer in the costmap as follows:

   

obstacle_layer:
      observation_sources:  scan
      scan:
        data_type: LaserScan
        topic: zed/scan
        observation_persistence: 0.0
        expected_update_rate: 0.0
        marking: true
        clearing: true
        min_obstacle_height: 0.0
        max_obstacle_height: 0.7
        obstacle_range: 1.5
        raytrace_range: 1.5

If I want to use PointCloud2 type observation_sources, what topics can I use? And what is the difference between them?