Re: Autonomous Navigation
Posted by
matlabbe on
Nov 06, 2015; 10:20pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p838.html
Hi,
1) I tried your setup (Odom+Kinect+ScanFromKinect) on our robot. The launch file I used on the robot is this one:
az3_mapping_kinect_scan.launch"RGBD/PoseScanMatching" is true, I don't see the warnings you have. It is strange that the /grid_map is created and no depth2D is found in the nodes. Are you using a previous database for which the scans were not saved?
2) You can use the RVIZ tool ("2D Navigation Goal") to set the goal to /rtabmap/goal topic. Yes "set_goal" service only plans to a node, but with /rtabmap/goal topic you can send a pose like for move_base but the pose will be modified if there are graph optimizations. Are you using "RGBD/OptimizeFromGraphEnd"=true? I prefer to set it to true for navigation (all is relative to the current position of the robot).
I've made little videos with the launch file above:
https://youtu.be/xeRxsahGKkwhttps://youtu.be/H4-Fbd8WJW0
We can see that the map is updated when a localization occurs. The videos are in localization mode:
$roslaunch rtabmap_ros az3_mapping_robot_kinect_scan.launch localization:=true
I would say that the narrow field of view of the kinect makes it difficult to relocalize on paths where the camera was not looking almost exactly in the same direction. In the mapping phase, I did the trajectory back and forth to make sure that the robot can localize on the robot, otherwise the map would drift.
cheers,
Mathieu