Re: Autonomous Navigation

Posted by matlabbe on Oct 29, 2015; 2:26am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p802.html

Hi Guido,

1) Do you mean "gen_scan"? Yes, grid_map should be published.
2) Both can be used. You can compare them in RVIZ to see which one would fit best for your needs.
3) If your robot controller is subscribing to a /cmd_vel topic and that you are able to create a map with rtabmap, you can add only this part of the referred launch file to spawn move_base while modifying the yaml files for your robot and remapping the topics:

<group ns="planner">
        <remap from="openni_points" to="/planner_cloud"/>
        <remap from="base_scan" to="/base_scan"/>
        <remap from="map" to="/map"/>
        <remap from="move_base_simple/goal" to="/planner_goal"/>
        
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
        </node>
</group>

This tutorial can be useful to understand how to setup move_base with your robot. You can refer to this RTAB-Map on Turtlebot tutorial too.

cheers