How to use rgbd camera for navigation and obstacle avoidance？

I have a mobile robot equipped with an RGBD camera. If I use the point cloud released by RGBD for real-time obstacle avoidance and path planning, are there any open source projects that can be directly used?

Asked by wugeshenhuaking on 2022-11-02 23:33:10 UTC

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I've had a lot of success using the rtabmap_ros package for obstacle avoidance, and it does have several features like path planning.

However for local planners I'd recommend these two, but it will be dependent on your specific drive style: For holonomic there is dwa, and for diff or skid steer there is TEB

Asked by Scotty on 2022-11-03 09:37:11 UTC