Re: Local costmap is empty

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Local-costmap-is-empty-tp7464p7467.html

Hi,

You should not use /rtabmap/cloud_obstacles for the local costmap. You should send the camera point cloud directly to local costmap. You may have to downsample the point cloud for performance issue or segment the ground from the obstacles. See his example: http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorNavigation#Local_costmap

In that example, a disparity image is used in rtabmap_ros/point_cloud_xyz, but that node can also subscribe to a depth image instead (by remapping depth/image and depth/camera_info).

In localization mode, cloud_obstacles would be published only after the robot has been localized.

cheers,
Mathieu