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Navigation and mapping
RTABMap (standing for Real-Time Appearance-Based Mapping) is a powerful tool to efficiently map an environment, as well as navigating inside it. For further details, please check the References section of this wiki.
In order to make the autonomous navigation working properly, various parameters are influent, and are described here. Also, the orginal move_base
for the Ridgeback base has been adjusted, to get better results. It is still possible to better the platform behavior by slightly tuning the set of parameters listed here.
ridgeback_navigation/params/base_local_planner_params.yaml
ridgeback_navigation/params/costmap_common_params.yaml
ridgeback_navigation/params/move_base_params.yaml
ridgeback_navigation/launch/include/move_base.launch
- Robot configuration parameters (max. acceleration, velocity, holonomic mode...)
- Edit goal tolerance
-
sim_time
can be an influent parameter - Trajectory scoring parameters can be slightly tuned to obtain the desired behavior (but only experience can help you choosing these parameters)
rtabmap/rtabmap_ros/launch/ridgeback_multi_mapping.launch
- Inside RTABMap parameters section, check comments on parameters to tune.
- Check
database_path
if you want to create a new map (follow the same naming conventionRPL_multi_DDMMYY_HHMM.db
). - Hardware-syncing for the 3 cameras should be enabled here.
rtabmap/rtabmap_ros/launch/ridgeback_multi_mapping.launch
- Inside RTABMap parameters section, check comments on parameters to tune.
- The main parameter to tune here is
Vis/MinInliers
, as it is the main condition to ensure a great localization for the robot. - If the robot's behavior is jumpy, try to reduce the
Icp/MaxTranslation
parameter
- The main parameter to tune here is
- Check
database_path
to use the map you want. - Hardware-syncing for the 3 cameras should be enabled here.
After having launch everything from steps Terminal 1 to 4 (see Launch Demo section), run the following command from a new terminal:
roslaunch roslaunch rtabmap_ros ridgeback_multi_mapping.launch
For a RViz visual output, open rviz
and load the ridgeback_navigation.rviz
configuration
After having launch everything from steps Terminal 1 to 4 (see Launch Demo section), run the following command from a new terminal:
roslaunch roslaunch rtabmap_ros ridgeback_multi_navigation.launch
For a RViz visual output, open rviz
and load the ridgeback_navigation.rviz
configuration
- RTABMap Official website: http://introlab.github.io/rtabmap/
- RTABMap ROS: http://wiki.ros.org/rtabmap
- RTABMap SPLAM Publication: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf