Re: Rtab map in different floors

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtab-map-in-different-floors-tp6947p9049.html

Hi Mathieu,

Sorry for bringing up an old thread, but I noticed the GridGlobal/AltitudeDelta parameter that might be useful in solving this issue. Would a workflow like this work for preplanned-map multi-storey navigation?

1) Map using rtabmap mapping mode. Whenever we reach a new floor, we can trigger a new map using 'rosservice call /rtabmap/trigger_new_map'.

2) In preplanned map navigation, we can send navigation goals up to different floors. Since rtabmap localizes the robot in 3D (with height), we can set the GridGlobal/AltitudeDelta parameter such that nodes around this deltaZ will be rendered. That way, we have 2d maps loaded for each specific floors.

Thanks,
Derek