Posted by
minato_99 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-stereo-camera-only-tp9991.html
Hello matlabbe,
I am very thankful for your help so far. I am working on navigation using rover. I have attached the launch code, database, and the navigation stack parameters. It is weird I am not getting any error when I launch the file. However, the global map, local map, and the trajectory planner are not showing up.
I used the tutorial available in rtabmap_ros/Tutorials/StereoOutdoorNavigation. (
https://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorNavigationAny help would be appreciated.
Launch file:
https://drive.google.com/file/d/1hLtLhvBLlAjngxvpCYUxWDI_lIg5M1fG/view?usp=drive_linkDatabase:
rover_costmap_common_params:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.03
#robot_radius: ir_of_robot
inflation_radius: 0.55
transform_tolerance: 1
controller_patience: 2.0
NavfnROS:
allow_unknown: true
recovery_behaviors: [
{name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
]
conservative_clear:
reset_distance: 3.00
aggressive_clear:
reset_distance: 1.84
rover_global_costmap_params.yaml:
global_costmap:
global_frame: robot/map
robot_base_frame: robot/chassis
update_frequency: 0.5
publish_frequency: 0.5
static_map: true
rover_local_costmap_params.yaml:
local_costmap:
global_frame: robot/odom
robot_base_frame: robot/chassis
update_frequency: 2.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.025
origin_x: -2.0
origin_y: -2.0
observation_sources: point_cloud_sensor
# assuming receiving a cloud from rtabmap_util/obstacles_detection node
point_cloud_sensor: {
sensor_frame: robot/chassis,
data_type: PointCloud2,
topic: openni_points,
expected_update_rate: 0.5,
marking: true,
clearing: true,
min_obstacle_height: -99999.0,
max_obstacle_height: 99999.0}
rover_base_local_planner_params.yaml:
TrajectoryPlannerROS:
# Current limits based on AZ3 standalone configuration.
acc_lim_x: 0.75
acc_lim_y: 0.75
acc_lim_theta: 4.00
max_vel_x: 0.500
min_vel_x: 0.212
max_rotational_vel: 0.550
min_in_place_rotational_vel: 0.15
escape_vel: -0.10
holonomic_robot: false
xy_goal_tolerance: 0.20
yaw_goal_tolerance: 0.20
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 3
vtheta_samples: 20
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: true
oscillation_reset_dist: 0.05
meter_scoring: true
Sincerely,
minato_99