introlab
How to navigation after mapping with RTAB-MAP ?
Hello,
Thank you for your work! As shown in figure, the map has been built with RTAB-map. I want to use this map or it's octomap for navigation, standalone version of RTAB-map was used, can you provide me with relevant tutorials?
Thank you !
Hello, although @matlabbe can give you further info, I haven't found any "tutorials" outside of the wiki tutorials: https://github.com/introlab/rtabmap/wiki/Tutorials
But if you are familiar with ROS, the easiest way is to subscribe to the relevant topics in the rtabmap node: https://wiki.ros.org/rtabmap_ros.
My company also has free generic robot navigation code that is based on rtabmap: http://www.newmindrobotics.com/
@nathangeorge1 hi, Thank you for you help! I am trying to do the job with ROS. I want to keep trying.
cheers
Relevant tutorials on ROS are here: https://wiki.ros.org/rtabmap_ros/Tutorials
Even if you could load that map in rtabmap_ros, it is preferred to do navigation in a map taken from the same point of view than the robot (and with same sensors) to get good localization, so you may have to rebuild a new map with the robot.
cheers, Mathieu
@matlabbe
Thank you for your reply! I do not have a turtlrbot, so I finished mapping and navigation in gazebo.
cheers!
For navigation with rtabmap, it is pretty straightforward if your robot is move_base ready (http://wiki.ros.org/navigation/Tutorials/RobotSetup), only /map topic would have to be remapped. Even if you are on a custom robot, many things from turtlebot robot could be transferred. Take a look at the gazebo turtlebot tutorial here: https://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot
Use rqt_graph to see how topics are connected. rosrun tf2_tools view_frames can be also used to see the resulting TF tree.
I have a zed camera and I have mapped out and localized. I have no idea how to navigate.
@alp3327 hey have you succeeded in Navigating using ZED Camera? I'm also trying to do the same thing. Can you help me? thanks
I have a zed camera and I have mapped out and localized. I have no idea how to navigate.
Were you able to get Autonomous Navigation using the RTAB Map with ZED camera?
If you are on ROS2, it is possible to use nav2. There is an example here with a rgb-d camera (if you have a zed camera, you would have to remap the correct topics): https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3_rgbd.launch.py