Re: Autonomous Navigation

Posted by g.bartoli on Nov 10, 2015; 1:40pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p844.html

1) Well, magically that error never happened again, I modified nothing, but just waiting some more time before firing up RViz on the remote computer did not interfere with scan matching, so consider that solved, it was my fault! :)

2) How can I redirect the RViz 2D Navigation Goal to the /rtabmap/goal topic? Can I use a launch file to launch the rviz node and remap that topic or rtabmapviz is needed to graphically sey that goal type? In this configuration, is the move_base node still needed by rtabmap or some other remapping stuff needed?

OptimizeFromGraphEnd is true for both mapping and localization mode. Yes, the behaviour you showed in the videos is exactly what we are trying to achieve! Except for Azimut stuff, I need to setup RViz in a manner very similar to yours, what is the .rviz config file you used for them, "azimut3_nav" or "azimut3"?

When the final goal is not moving too much (which I plan to solve following your advices), the trajectory planner works pretty well, I tweaked the parameters inside yaml files and it smoothly drives to the goal while avoiding obstacles and using recovery behaviours when needed. Actually we use a simple local/global map, but I have to better investigate the obstacle/ground layers you talked about, I think I need take another look at "az3_mapping_robot_kinect_scan.launch" to see if I can improve on something.

Regarding the relocalization, we also noted what you mean and we are already mapping in back and forth direction, it greatly improved localization accuracy. For final costs, now we are trying to achieve the best possible result only with odometry and kinect, eventually some ultrasonic proximity sensor for redundant security. If the final results won't be enough, we'll look into laser rangefinders.

Thanks,
Guido