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Hello, when I use rtabmap to navigate, why does the robot walk on the left side of the path plan? If the navigation is successful, I will share the program code with those who need it.
Thank you for taking the time to answer.
If the green line is the global plan, it is normal that the robot doesn't follow it exactly. You may vheck the output of the local planner, I guess this one is planning slightly off the global one to be farther from obstacles.
Hello, when I use rtabmap to navigate, why does the robot walk on the left side of the path plan? If the navigation is successful, I will share the program code with those who need it.
Thank you for taking the time to answer.
my tf tree:
mapping:
roslaunch realsense2_camera rs_rgbd.launch
roslaunch my_package rtabmap402.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
rviz
navigation :
roslaunch realsense2_camera rs_rgbd.launch
roslaunch my_package rtabmap402.launch database_path:="~/.ros/rtabmap.db" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info localization:=true
roslaunch my_package robot_rtabmap_nav.launch
.launch:
rs_rgbd.txt
rtabmap402.txt
robot_rtabmap_nav.txt
In actual situations, the green line is the planned path, and my robot does not follow the green line.
amcl positioning and navigation robot can travel according to the planned path, so the parameters of move_base.launch are the same as amcl.
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