Mapping

[libBAS]

Get mapping working (see Matt)

[juliaschatz]

Interesting things: http://wiki.ros.org/rtabmap_ros

[juliaschatz]

How do we go from identified map -> costmap?

[libBAS]

What do you mean by identified map? Like what is it/what format?

[JWCS]

(For RMC, rtabmap isn't useful, b/c the map is already fully defined. Obstacles don't count, b/c that's the purpose of the occupancy grid layer of the costmap) Rtabmap can publish the tf transform from map->odom (localization), and an OccupancyGrid (a layer to) the costmap (as the 'map' topic). See also this example launch file: https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_turtlebot3_navigation.launch

[juliaschatz]

Can you suggest an alternate workflow to establish the occupancy grid?

[JWCS]

https://wiki.ros.org/depthimage_to_laserscan https://wiki.ros.org/pointcloud_to_laserscan In this image, from move_base, the odom (plus frame tf's) from the ekf (possibly seeded with an absolute position estimate such as gps, decawaves, or amcl), plus a map (from a static map def, since we know the map), and a laser_scan are enough (plus goal).

• ekf_node -> /odom, /tf
• static_map_node -> /map
• realsense -> _to_laserscan_node -> /laserscan
• => cmd_vel

[JWCS]

Even a pointcloud works, I guess, so immediate conversion needed when the realsense publishes a pointcloud. But if you're using amcl to test on the conference room for localization, then you'll need a laser_scan