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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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Assign initial proj_map size #89

Closed willdzeng closed 8 years ago

willdzeng commented 8 years ago

Hey Mathieu,

Is there a way to assign the initial size of proj_map? Move_base needs the goal to be set inside the costmap. But the proj_map is initially small without previous mapping, so I can't assign goal point to ask the robot to explore the area.

Also I noticed there is a path planning implemented in rtabmap. What algorithm are you using in that? Is it only a path planner? or it also do motion planning like a local plan? Thanks~

willdzeng commented 8 years ago

Also this would cause rviz give warning about

Update area outside of original map area.

image

matlabbe commented 8 years ago

Hi,

You can use grid_size parameter. Example initializing a 50x50 meters map:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
...
<param name="grid_size" type="double" value="50"/>
...
</node>

The planning approach used in RTAB-Map is used to handle memory management effects on the map over time. It is triggered when sending a goal to /rtabmap/goal topic instead of /move_base_simple/goal topic. The goal must be inside a radius of RGBD/LocalRadius (default 10 meters) from the map's graph to be accepted. The planning is topological. The Dijkstra approach is used to find a path in the map's graph from the current node to the goal. Waypoints are then sent to move_base through actionlib.

It is recommended to use /rtabmap/goal if RGBD/OptimizeFromGraphEnd is true (default false) as goals will "follow" the map when it is corrected after a loop closure. If RGBD/OptimizeFromGraphEnd is false, sending goals to /rtabmap/goal or /move_base_simple/goal will have the same effect.

cheers, Mathieu

willdzeng commented 8 years ago

Got it, grid_size works