Re: Obstacle Detection Nodelet & /local_grid_obstacle

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Detection-Nodelet-local-grid-obstacle-tp6949p6962.html

Hi,

It looks like that topics have been added in this commit: https://github.com/introlab/rtabmap_ros/commit/b6701866108a263c9117f98b112ba20f7d724012

I think it was for debugging purpose, it is why there is no documentation. Those topics give the same output as obstacles_detection nodelet for the last node added to the map. They are published at 1 Hz because by default rtabmap updates at 1 hz (Rtabmap/DetectionRate=1). If you need faster framerate, it would be better to use obstacles_detection nodelet instead. There is an example here where you could feed your depth image and camera_info instead (or directly a point cloud).

To adjust the parameters (both for rtabmap and obstacles_detection nodes), see:

$ rtabmap --params | grep Grid/

cheers,
Mathieu