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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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A question about recent published paper. #250

Open DingFeng0103 opened 6 years ago

DingFeng0103 commented 6 years ago

Hi.

I have read your recent paper published at 2017. Your lab combined 2 planning module to help navigation as I understand. The paper says we can find the code here. So is the code already merged into rtabmap_ros? if not when will it be ready?

Thanks Feng

matlabbe commented 6 years ago

Yes the code is there. However, there is no tutorial yet. For example, the patrol behavior is there: https://github.com/introlab/rtabmap_ros/blob/master/scripts/patrol.py

and az3_nav.launch uses it too: https://github.com/introlab/rtabmap_ros/blob/master/launch/azimut3/az3_nav.launch

The main parameters related to planning:

<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="goal_out"  to="current_goal"/> 
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map"  to="/map"/>

goal_out is for visualization in RVIZ to see actual rtabmap goal. use_action_for_goal is used to connect TPP to MPP with ros actionlib. grid_map is the local map. move_base is a remap to actual move_base node name.

The user goal of the paper is connected to "/rtabmap/goal" input topic of rtabmap node. In code, TPP is implemented directly in rtabmap node, while MPP is external (which is move_base).

cheers, Mathieu

DingFeng0103 commented 6 years ago

Thanks very much for you reply. I am really interested in your project and hope I can put it to use to my robot.