introlab
How can I use RTAB-Map to display temporary obstacles in OctoMap during localization mode?
My Environment: Ubuntu 22.04 ROS2 Humble
I have already built a map using RTAB-Map, but later on, I want to perform real-time 3D path planning using OctoMap. Therefore, I need to consider temporary obstacles (e.g., moving pedestrians). How can I achieve this? Your assistance would be greatly appreciated!
Additionally, are there any methods for real-time path planning using OctoMap? (This is for an autonomous drone project).
If rtabmap is launched in localization mode, parameter Grid/RayTracing is enabled and map_always_update is set to true, then the OctoMap will be updated with dynamic obstacles (also clearing them if possible).
Another option is to use the OctoMap created by rtabmap only for global planning assuming everything is static, then have a local voxel grid for obstacle avoidance when trying to follow the global plan (similar to this example).
For general 3D planning, there is the OMPL library: https://ompl.kavrakilab.org/
Specifically for drones, you may ask on https://github.com/PX4/PX4-Autopilot to know what people are using for indoor trajectory planning.
