Re: RTAB-Map Octomap for ROS MoveIt with dynamic objects and self-filtering

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-Octomap-for-ROS-MoveIt-with-dynamic-objects-and-self-filtering-tp6884p6886.html

I didn't use all tools you mentioned, but for rtabmap, to solve the two problems:
1- Self-filtering: I would go with http://wiki.ros.org/camera_self_filter package to mask the depth image before sending it to rtabmap. That way, the octomap produced by rtabmap won't contain the robot itself.
2- Continuous update of the octomap: set parameter map_always_update to true for rtabmap node. Make sure Grid/RayTracing is also true to clear dynamic obstacles in the field of view of the camera.

The "clear octomap" button in rviz doesn't see standard. Is it coming with MoveIT plugin?

cheers,
Mathieu