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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Path Planning #1522

Closed Tien-203 closed 3 years ago

Tien-203 commented 3 years ago

Hi, I'm trying to perform global path plan while I have goal position on ROS with move_base package, something like this:

image

But I don't know how to create move_base node with realsense-ros package, Can you give me some instruction for that? Thank you!!

MartyG-RealSense commented 3 years ago

Hi @intel-user My research found a paper in PDF format that uses a RealSense D435 camera with the RealSense ROS wrapper and move_base.

https://www.utupub.fi/bitstream/handle/10024/147661/VSLAM_and_Navigation_System_of_Unmanned_Ground_Vehicle_Based_on_RGB-D_Camera.pdf

It also discusses previous generations of RealSense camera model such as the R200. So for ease of reading, the D435 information starts on page 29 and the move_base navigation information on page 35 onwards (page numbers refer to the ones at the bottom of the page, not the PDF numbers).

If you are able to consider an alternative to using move_base for navigation, the Erwhi Hedgehog project provides an excellent and user-friendly blueprint for a ROS mobile robot equipped with a 400 Series camera.

https://www.intelrealsense.com/hedgehog-robot-by-erwhi/

https://gbr1.github.io/erwhi_hedgehog.html

If you need to use move_base in your project, the SAWR project provides another complete RealSense robot blueprint that provides details of setting up move_base. The project is somewhat old and pre-dates the 400 Series cameras, though the author believed that it would be straightforward to update the project for those camera models.

https://software.intel.com/content/www/us/en/develop/articles/build-an-autonomous-mobile-robot-with-the-intel-realsense-camera-ros-and-sawr.html

https://github.com/intel/sawr/blob/master/sawr_master/INSTALL.md

Tien-203 commented 3 years ago

Thank you so much

MartyG-RealSense commented 3 years ago

Hi @intel-user Do you require further assistance with this case, please? Thanks!

Tien-203 commented 3 years ago

I install move_base ros package and download the params folder on the internet and then, I add move_base node into opensource_tracking.launch file. It's work for me.

Thank for your help!!

MartyG-RealSense commented 3 years ago

That's great to hear @intel-user - thanks so much for the update!

As you had a successful outcome, I will close this case. Thanks again!