Posted by
g.bartoli on
Nov 06, 2015; 3:52pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p833.html
Ok, thanks for these info, I solved every issue following your advices, except for the obstacle detection, which we'll consider later.
Some more questions... :)
1) "rtabmap" node has "subscribe_laserScan" set to true, "grid_map" and "local_costmap" are built accordingly. In the options I saw also "RGBD/PoseScanMatching" and I thought it would be a good idea to enable it to improve localization accuracy. I tried to enable it, but when rtabmap is running I continuosly received this warning, regardless that flag is enabled or not:
[WARN] Memory.cpp:2856::computeScanMatchingTransform() Depth2D not found for signature 1
Do you know what is going wrong?
2) This is something I already asked you, but now I cannot find a workaround to make it work as expected...
We are using the "2D Navigation Goal" tool in RViz to set the goal. The path is correctly computed and the robot drives to it costantly updating the local map to avoid obstacles. But the annoying behaviour is that once the goal is set on the map, if the map is optimized by RTAB-Map the goal coordinates become invalid, since the environment is moving. The local map still works because it is centered on the robot, but the global one is continuosly oscillating even if we are in localization mode (database loaded and incremental memory = false). You told me to use the rtabmap set_goal service, but it seems to work only on already existant nodes, while the RViz Navigation Goal works in real time on any map point.
Loop closures are correctly found and this is really helpful to correct drifts and relocalize the robot, but when just moving around or standing still the map is never resting. You told that this was changed in latest build, but it seems to still happen... In localization mode, wouldn't it be better to just find correspondences in visual database to relocalize the robot and avoiding optimizing the graph? Can a flag parameter be added to control this behaviour?
Many thanks!
PS: I have to say that during the mapping phase the graph is now much more stable when the robot is standing still compared to the localization phase
~Guido