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-tp925p959.html

The video https://www.youtube.com/watch?v=VlBQLbmc03g shows an example of MOVEIT+OMPL in a simulated environment.

The first problem I see with this approach is if the odometry of the robot is drifting (which it is more likely in real world) or the environment changes, the robot may not reach the "real" target position. RTAB-Map re-optimize the map on loop closures/relocalization, it may be required to re-plan after such events (the octomap will change over time).