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rtabmap localization issue

asked 2017-02-06 01:24:36 -0600

Atul Divekar gravatar image

updated 2017-02-07 10:51:57 -0600

matlabbe gravatar image

Hi,

I am facing one issue during localization in rtabmap. When there is an dynamic obstacle in front of the robot an even during the navigation time map data gets some times disappears on rviz and the robot gets delocalized. Why this happens so? What is the solution for this so that there is continuous update of map from rtabmap? Please suggest as soon as possible. Thanks.

EDIT:

1) map_with_rviz.png

C:\fakepath\map_with_rviz.png image description

2) map_with_obstacle.png

C:\fakepath\map_with_obstacle.png image description

3) disappear_map_with_obstacle.png

C:\fakepath\map_with_delocalize.png image description

4) disappear_map_with_obstacle_1.png

C:\fakepath\map_with_delocalize_1.png image description

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Please don't link to images on cloud services, attach them to this post.

Please do this as soon as possible. Thanks.

gvdhoorn gravatar imagegvdhoorn ( 2017-02-07 04:00:41 -0600 )edit

Thanks for suggestion I attached the screenshots.

Atul Divekar gravatar imageAtul Divekar ( 2017-02-07 09:03:23 -0600 )edit

What happens between 2 and 3? Robot moved?

matlabbe gravatar imagematlabbe ( 2017-02-07 12:20:00 -0600 )edit

Hello In 2nd image as you can see the the robot initial position as /base_link (frame ) when we give goal to the robot behind the Obstacle , the robot while avoiding the obstacle it loses its Global_map as in the 3rd image the /global_map has disappear , why this happens so please can you suggest me

Atul Divekar gravatar imageAtul Divekar ( 2017-02-07 23:53:05 -0600 )edit

Also the local_map changes its behavior when the global_map gets disappear as seen in Image 3rd

Atul Divekar gravatar imageAtul Divekar ( 2017-02-07 23:55:25 -0600 )edit

the local costmap should not change if the global map changes. Make sure your local costmap is in /odom frame, not /map frame. What is your fixed frame in RVIZ?

matlabbe gravatar imagematlabbe ( 2017-02-08 13:46:29 -0600 )edit

Okay,and My fixed frame on rviz is /map frame

Atul Divekar gravatar imageAtul Divekar ( 2017-02-08 22:44:07 -0600 )edit

What is the output on the terminal where rtabmap is launched?

matlabbe gravatar imagematlabbe ( 2017-02-09 09:32:25 -0600 )edit

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answered 2017-02-06 14:13:29 -0600

matlabbe gravatar image

During localization, the map should not disappear even if the camera is obstructed. Do you refer to move_base local costmap or the grid_map published by rtabmap? In localization mode, rtabmap doesn't update the map. It may add current seen obstacles but they should disappear if the obstacle is not anymore in the field of view of the sensor. If you have screenshots, it may help to see the problem.

cheers

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Asked: 2017-02-06 01:24:36 -0600

Seen: 254 times

Last updated: Feb 07 '17