Using RTAB Map just for obstacle detection

Posted by jorgemia on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-Map-just-for-obstacle-detection-tp6644.html

Hi,

I'm trying to get a robot to drive in an orchard outdoors. I'm currently using reactive navigation with a stereo camera (processing sensor data in real-time to navigate down the orchard) not SLAM, to navigate down a row. I was wondering if I could use the /rtabmap/cloud_obstacles from RTABMAP to just detect obstacles in the environment, not for navigation? I would like to use it to tell the robot, if there is an obstacle in front of you, at less than 2m, then stop.

Could this be done using RTABMAP? Not sure how I would then use the pointcloud to actually tell the robot to stop.

Is there a better approach?