Official RTAB-Map Forum - Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by gian on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6956.html

Hi Mathieu,

I managed to send the goal remapping :

<remap from="move_base_simple/goal" to="/rtabmap/goal_out"/>

but the robot stuck

process[planner/move_base-1]: started with pid [14662]
process[camera/nodelet_manager-2]: started with pid [14663]
process[camera/points_xyz_planner-3]: started with pid [14664]
process[camera/obstacles_detection-4]: started with pid [14669]
[ INFO] [1601142016.025229104]: global_costmap: Using plugin "static_layer"
[ INFO] [1601142016.055642825]: Requesting the map...
[ INFO] [1601142016.764849831]: Resizing costmap to 133 X 182 at 0.050000 m/pix
[ INFO] [1601142016.864754505]: Received a 133 X 182 map at 0.050000 m/pix
[ INFO] [1601142016.876162808]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1601142016.911972258]:     Subscribed to Topics: point_cloud_sensorA point_cloud_sensorB
[ INFO] [1601142017.061707808]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1601142017.268054604]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1601142017.278878354]:     Subscribed to Topics: point_cloud_sensorA point_cloud_sensorB
[ INFO] [1601142017.455727035]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1601142017.662599476]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1601142017.732169394]: Sim period is set to 0.10
[ WARN] [1601142018.174572730]: The obstacles_cloud observation buffer has not been updated for 1.20 seconds, and it should be updated every 0.50 seconds.
[ WARN] [1601142018.623082458]: The obstacles_cloud observation buffer has not been updated for 1.30 seconds, and it should be updated every 0.50 seconds.
[ INFO] [1601142018.669252414]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1601142018.705379378]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1601142018.907379922]: odom received!
[ERROR] [1601142018.983781094]: obstacles_detection: Parameter "min_cluster_size" has moved from rtabmap_ros to rtabmap library. Use parameter "Grid/MinClusterSize" instead. The value is still copied to new parameter name.
[ERROR] [1601142018.989861745]: obstacles_detection: Parameter "max_obstacles_height" has moved from rtabmap_ros to rtabmap library. Use parameter "Grid/MaxObstacleHeight" instead. The value is still copied to new parameter name.
[ WARN] [1601142019.123087664]: The obstacles_cloud observation buffer has not been updated for 1.80 seconds, and it should be updated every 0.50 seconds.
[ WARN] [1601142019.174502512]: The obstacles_cloud observation buffer has not been updated for 2.20 seconds, and it should be updated every 0.50 seconds.
[ WARN] [1601142056.503254267]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1601142061.603023757]: Rotate recovery behavior started.
[ERROR] [1601142064.153938723]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1601142069.254295305]: Clearing both costmaps to unstuck robot (1.84m).
[ WARN] [1601142074.354312275]: Rotate recovery behavior started.
[ERROR] [1601142074.354672342]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1601142079.355251789]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ WARN] [1601142193.834880946]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1601142198.934953312]: Rotate recovery behavior started.
[ERROR] [1601142198.935298171]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1601142204.034891823]: Clearing both costmaps to unstuck robot (1.84m).
[ WARN] [1601142209.134934133]: Rotate recovery behavior started.
[ERROR] [1601142209.135588849]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1601142214.234863451]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ WARN] [1601142275.442094095]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1601142280.542109747]: Rotate recovery behavior started.
[ERROR] [1601142280.542420438]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1601142285.642134215]: Clearing both costmaps to unstuck robot (1.84m).
[ WARN] [1601142290.742234216]: Rotate recovery behavior started.
[ERROR] [1601142290.742621160]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1601142295.842110405]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

I tried to increase the min height of the obstacles in the costmaps but it didn't work,anyaway I still think that the robot see itself as an obstacke.
Could you please advice to tune the costmaps ?
Thanks,
Gian