Problems with path planning using d435i camera navigation

[smile6023326]

Hello, when I use rtabmap to navigate, why does the robot walk on the left side of the path plan? If the navigation is successful, I will share the program code with those who need it. Thank you for taking the time to answer.

my tf tree:

mapping: roslaunch realsense2_camera rs_rgbd.launch

roslaunch my_package rtabmap402.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

rviz

navigation : roslaunch realsense2_camera rs_rgbd.launch

roslaunch my_package rtabmap402.launch database_path:="~/.ros/rtabmap.db" depth_topic:=/camera/depth/image_rect_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info localization:=true

roslaunch my_package robot_rtabmap_nav.launch

.launch: rs_rgbd.txt rtabmap402.txt robot_rtabmap_nav.txt

In actual situations, the green line is the planned path, and my robot does not follow the green line.

amcl positioning and navigation robot can travel according to the planned path, so the parameters of move_base.launch are the same as amcl.

[matlabbe]

If the green line is the global plan, it is normal that the robot doesn't follow it exactly. You may vheck the output of the local planner, I guess this one is planning slightly off the global one to be farther from obstacles.

[smile6023326]

But when I use this method to navigate, there are no obstacles in front of me. my robot Length 90cm,Width 70cm,Height 95cm. D435i is located on a flat surface with a height of 90cm. This is my video, the speed is much faster due to the upload size limit. https://github.com/introlab/rtabmap_ros/assets/48814064/0579eb54-acd4-4676-9b2d-7ab086695e1a

[matlabbe]

Try to visualize the local costmap at the same time, to see if the camera is seeing some ghost obstacles (noise).