Re: 3D mapping and 3D navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-and-3D-navigation-tp925p938.html

Hi Sean,

I've only did 2D navigation for now (with move_base), so I don't know which are the best packages for 3D navigation. I was thinking about moveit but it seems not yet supported for 3D navigation :P

For your first post:

sean819 wrote

I have two idea.
1.Use RGB-D camera and use openni to do 3D mapping. And then use openni to convert to octomap for 3D navigation.

2.Use RGB-D camera and use RTAB-MAP to do 3D mapping. And then use RTAB-map to convert to octomap for 3D navigation.

Not sure about the first approach as the robot will just accumulate the point clouds without actually correct the map on loop closures, for which the second approach is able to. You can use the output of rtabmap's /cloud_map topic and plug it into an octomap_server to get the octomap (similar to this post). Simple example:

# Start Xtion Pro Live:
$ roslaunch openni2_launch openni2.launch depth_registration:=true

# Start Rtabmap:
$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

# Start octomap_server listening to generated cloud_map message from rtabmap node:
$ rosrun octomap_server octomap_server_node cloud_in:=/rtabmap/cloud_map

# In RVIZ, you can visualize the octomap using the related rviz plugin (ros-indigo-rviz-plugins)

 To limit the size of the map (and so the computation time to generate the octomap), see the "cloud_map" related parameters under rtabmap node (e.g., cloud_decimation, cloud_max_depth, cloud_voxel_size...). The octomap can be also created on-demand with the "octomap_full" or "octomap_bin" rtabmap's services.

cheers,
Mathieu