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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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How to navigation after mapping with RTAB-MAP ? #402

Open MattixLee opened 5 years ago

MattixLee commented 5 years ago

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 !

office

void-robotics commented 5 years ago

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/

MattixLee commented 5 years ago

@nathangeorge1 hi, Thank you for you help! I am trying to do the job with ROS. I want to keep trying.

cheers

matlabbe commented 5 years ago

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

MattixLee commented 5 years ago

@matlabbe

Thank you for your reply! I do not have a turtlrbot, so I finished mapping and navigation in gazebo.

cheers!

RashidAb commented 3 years ago

What do I do if I am using a custom robot? not turtlebot

benz777 commented 2 years ago

any solution ? please @MattixLee

matlabbe commented 2 years ago

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.

alp3327 commented 1 year ago

I have a zed camera and I have mapped out and localized. I have no idea how to navigate.

nsfhac commented 1 year ago

@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.

farhan-haroon commented 12 months ago

Were you able to get Autonomous Navigation using the RTAB Map with ZED camera?

matlabbe commented 12 months ago

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