Re: Navigation with RTAB-Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-RTAB-Map-tp7816p7890.html


For the base frame, see https://www.ros.org/reps/rep-0105.html#coordinate-frames. base_footprint is often used as parent to base_link at ground level. In this case, frame_id should be base_footprint. If your robot uses only base_link as the root of the robot, use base_link. You don't need to use ORB_SLAM2 again in localization, you can use any odometry approaches, but if you already satisfied with ORB_SLAM2, continue to use it.

You don't need 2D Pose Estimate if the robot is already able to localize itself in the map.

Topics not in planner namespace are maybe not published topics, but subscribed topics. To "rosnode info" on your move_base node to see the actual subscribed and published topics.

Your robot is rotating onplace maybe because move_base is in recovery behavior. "rostopic echo" the cmd_vel topic and see if there is indeed only twist over z axis. If so, check for errors or warnings on move_base terminal.

cheers,
Mathieu