Re: Autonomous Navigation

Posted by matlabbe on Nov 11, 2015; 8:25pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p847.html

Hi,

I updated the azimut3_nav.rviz config, accordingly to az3_mapping_robot_kinect_scan.launch file. Well, I use azimut3_nav.rviz for all tests, so maybe some topics are still not the good ones (depending of which configuration I've launched on the robot). I usually modify the topics each time I use it depending on what I am testing. If you are based on this launch file, the "goal_out" topic was renamed to "current_goal":

<remap from="goal_out"        to="current_goal"/>	

Normally, the global path gets updated (aligned to actual graph) until the goal is reached. If the goal is reached, the last global path will be still shown in RVIZ, to clean it, just check/uncheck the path display in RVIZ. Note that your MapGraph topic is not set (it can be useful to see the global path over the actual graph). If the goal was not reached and the global path is still misaligned to the graph, a video of the problem could be useful.

When the localization is poor and a goal is sent over an obstacle, move_base cannot plan a path. You can set "RGBD/PlanStuckIterations" to 10 for example. If after 10 iterations the robot is not moving on the path, a goal on the path closest to the robot will be sent. If every nodes on the path cannot be reached, the rtabmap's plan will fail (topic /rtabmap/goal_reached would be false).

Regards,
Mathieu