Re: Autonomous Navigation

Posted by g.bartoli on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p846.html

matlabbe wrote

2) In RVIZ, open the "Panels->Tool Properties" panel, then set the 2D nav goal topic to /rtabmap/goal like in the first video. rtabmapviz is not required. In that setup, only RVIZ is launched from the client computer.

Ok, that works, thanks!

However, even if I use the "/rtabmap/goal", I still see that once "rtabmap/global_path" has been computed and the robot navigate, it does not change when the map is optimized, so sometimes I set a goal, but the robot stops far from it, because after the optimization the goal has fallen inside a local obstacle and the planner rightly cannot reach it. Even worse, if the robot odometry has a large error (slipping wheels or crashing against an undetected obstacle), when the visual relocalization occurs, the map is correctly synchronized with robot position, but the global path remains still (often outside the global map itself) and the robot tries to follow it without success because it cannot reach it.

This a screenshot of what happens to the global path when a relocalization occurs:



Obviously this is not happening with "OptimizeFromGraphEnd=false", because the map is not changing, but the robot position is corrected during the navigation, which is a bit annoying, as you already pointed out. Shouldn't the goal and the intermediate nodes be continuosly updated by rtabmap in relation to map frame?

matlabbe wrote

On the robot, move_base is still required. The goal that rtabmap receives is resent to move_base, you can see it by adding a Pose display in RVIZ and set topic to /rtabmap/goal_out (you will have the red arrow like in the videos). As the robot is moving through this goal, the red arrow will change position until the final goal (sent over /rtabmap/goal) is reached.

Actually, rtabmap node subscribes to goal, but does not publish "goal_out", I used "rostopic list" and it is not present. In RViz I added the Pose display, but only "/rtabmap/goal" (the final pose) can be shown. I found "goal_out" is mentioned also in the rtabmap node wiki, but I still cannot find where it is in ROS.

matlabbe wrote

If you want to see the paths planned by rtabmap and move_base, add Path displays to RVIZ and add referred topics (rtabmap global plan, move_base global and local plans).

Ok, I added them, it's more informative, now.

g.bartoli wrote

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"?

Can you take a look at this?