How can we use the map generated by rtabmap for robot navigation

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How can we use the map generated by rtabmap for robot navigation

vinit payal
I am new in this and i have generated the map using this wonderful tool but now can anyone guide me how can we use this map for navigation in ROS Hydro version.
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Re: How can we use the map generated by rtabmap for robot navigation

matlabbe
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Do you want to do navigation on 2D maps or 3D maps? What is your setup? Do you have a 2D laser? or just a Kinect like the turtlebot?

Depending on your configuration, 2D and/or 3D maps can be created with rtabmap. See this tutorial and check if one of these configurations matches what you want to do.

For navigation, it is up to you depending if the map is 2D or 3D. The navigation stack of ROS have some documentations and tutorials on navigation.

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Re: How can we use the map generated by rtabmap for robot navigation

vinit payal
Thanks Buddy .... It is going to help me a lot in starting with it .thnx alot
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Re: How can we use the map generated by rtabmap for robot navigation

vinit payal
In reply to this post by matlabbe
Actually we are generating 3D map using given data set.Now as 3D map is generated successfully now we want to use this map to navigate using simulator for that.We are already having turtlebot simulator can we perform this in turtlebot or we will have to use another simulator and if it's possible in turtlebot please give some direction .
Thanks
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Re: How can we use the map generated by rtabmap for robot navigation

matlabbe
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For navigating in a 3D, you may want an efficiency structure for the point cloud like an octomap. You can look at the previous post "octomap with rtabmap" to know how to generate an octomap with octomap_server. For 3D navigation, I am not aware if there are packages using the octomap for trajectory planning, but it may have some. The 3D navigation stack looks old, but maybe it could give some ideas.

But if you are using a turtlebot, you could just plan with 2D occupancy maps?