Re: Hesai QT128 with Zed2i and external fused Odometry
Posted by aninath93 on Oct 02, 2023; 11:56am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9715.html
Hi Mathieu,
Thank you for the response and apologies for not being explicit.
My application is in warehouse environment, where there are multiple stations for pick and common area to drop where forklift unloads. Stations look the same but at different locations in the warehouse as below, marked on box is the tag where I am planning to put Apriltags for location landmarks.
Current Launch File
Robot gets a signal when the cart is in place, OR will be already at station if open for charge in below picture, but once cart in place the robot drives under the cart and comes out on other side by 1 meters to dock with pin up and drives to unload area, once unloaded Robot gets signal using REST API to drive and repeat.
Based on this if you can please advise parameter or see my file, I will appreciate it, with any input on driving under the cart disabling the obstacle layer ? With dynamic objects I meant, was moving people in the warehouse but not moving mapped environment but I will definitely review global costmap layer as I am starting to go through Nav2 literature.
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9715.html
Hi Mathieu,
Thank you for the response and apologies for not being explicit.
My application is in warehouse environment, where there are multiple stations for pick and common area to drop where forklift unloads. Stations look the same but at different locations in the warehouse as below, marked on box is the tag where I am planning to put Apriltags for location landmarks.
Current Launch File
Robot gets a signal when the cart is in place, OR will be already at station if open for charge in below picture, but once cart in place the robot drives under the cart and comes out on other side by 1 meters to dock with pin up and drives to unload area, once unloaded Robot gets signal using REST API to drive and repeat.
Based on this if you can please advise parameter or see my file, I will appreciate it, with any input on driving under the cart disabling the obstacle layer ? With dynamic objects I meant, was moving people in the warehouse but not moving mapped environment but I will definitely review global costmap layer as I am starting to go through Nav2 literature.
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