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How can I change my turtlebot2 working in Kinect+Odometry configurations

asked 2016-10-22 03:45:41 -0600

Nick Hoo gravatar image

updated 2016-10-22 03:47:01 -0600

When I use Turtlebot2 to launch demo_turtlebot_mapping.launch file, my robot's configurations is Kinect+Odometry+Fake 2D laser from Kinect。 But I want to put my robot into Kinect+Odometry,and I want to create with rtabmap node with proj_map topic a 2D occupancy grid map from the projection of the Kinect. How do I modify the demo_turtlebot_mapping.launch file. I refer to wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_turtlebot_mapping.launch

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answered 2016-10-24 12:34:38 -0600

matlabbe gravatar image

updated 2021-08-09 10:30:29 -0600

See this post:

In demo_turtlebot_mapping.launch:

-Set all "subscribe_scan" to false. This is optional though, you can keep the laser scan if you want.

-Change these lines:

<remap from="proj_map" to="/map"/> <!-- use projection map, use "grid_map" for version > 0.11.8 -->
<param name="Reg/Strategy" type="string" value="0"/> <!-- laser scan not used anymore for registration -->
<param name="Vis/MinInliers" type="string" value="20"/> <!-- default is 20 -->
<param name="Grid/FromDepth" type="string" value="true"/> <!-- For version > 0.11.8 only: Not required if subscribe_scan is false -->
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Sometimes,terminal displays Rejected loop closure 92 -> 233: Not enough inliers 0/20 or 3/20 between 233 and 92. Should I decrease the value of this?

Nick Hoo gravatar image Nick Hoo  ( 2016-10-24 21:18:06 -0600 )edit
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The parameter above is set to 20. Setting below 10 would result in poor registration. That warning tells just that a loop closure is detected, but there are not enough good matches to find a good transformation between the locations. So it is better to reject it.

matlabbe gravatar image matlabbe  ( 2016-10-25 09:26:42 -0600 )edit

Thank you very much.

Nick Hoo gravatar image Nick Hoo  ( 2016-10-25 21:39:11 -0600 )edit

“That warning tells just that a loop closure is detected, but there are not enough good matches to find a good transformation. So it is better to reject it.” Then the robot is rotating and doesn't move to goal. But it can move to a nearby location.How can I let the robot move to a goal directly?

Nick Hoo gravatar image Nick Hoo  ( 2016-11-02 09:17:58 -0600 )edit

Not sure to understand what you mean. The warning you quoted is independent of the move_base problem.

matlabbe gravatar image matlabbe  ( 2016-11-02 12:39:41 -0600 )edit

When the warning is appearing, the robot start rotating. And I don't know why.

Nick Hoo gravatar image Nick Hoo  ( 2016-11-02 20:43:53 -0600 )edit

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Asked: 2016-10-22 03:45:41 -0600

Seen: 201 times

Last updated: Aug 09