Re: 2D occupancy grid from Rtabmap and navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/2D-occupancy-grid-from-Rtabmap-and-navigation-tp8140p8248.html

Hi,

just making a crossref to this similar post: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-off-road-navigation-td7396.html

rtabmap will provide the global occupancy grid for move_base under /rtabmap/grid_map topic, as shown in this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

It also provides TF map->odom->base_link in your example.

Afterwards it is more a move_base configuration issue (see navigation page for help). Navigation can be done while creating the map if you want. If you want to do a localization phase after the mapping phase, you may launch rtabmap a second time with:

roslaunch rtabmap_ros rtabmap.launch \
   rgb_topic:=/zed2/left/image_rect_color \
   camera_info_topic:=/zed2/left/camera_info \
   depth_topic:=/zed2/depth/depth_registered \
   frame_id:=base_link \
   imu_topic:=/zed2/imu/data \
   wait_imu_to_init:=true \
   localization:=true

The occupancy grid should be published.

cheers,
Mathieu