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Rotate rtabmap's local_costmap?

asked 2017-02-20 19:35:17 -0600

danielsnider gravatar image

We're using rtabmap and only our local costmap is incorrectly rotated 90 degrees :(. We've tried using TF to rotate a few things with the static_transform_publisher but haven't been successful. Do you have any suggestions? See screenshots:

Incorrect: (the local cost map) image description

Correct: (the global cost map) image description

Thank you!

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answered 2017-02-23 13:48:32 -0600

matlabbe gravatar image

Hi,

What are the parameters of the local costmap? Which frame it is linked (should be /odom)? The problem could be also the attached frame used on the sensor for the obstacle layer. For example, use sensor_frame: base_link instead of sensor_frame: zed_camera_link, so that zed point cloud is transformed in base_link before ray tracing in the local costmap.

cheers

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I'm also on the team, and I can confirm it is set to odom. Then again, this is just testing with a fixed robot, so odom doesn't rotate. Here's a link to our configs: linky

mincrmatt12 gravatar imagemincrmatt12 ( 2017-02-23 17:04:21 -0600 )edit

Try changing sensor_frame: camera_link in local_costmap_params.yaml to sensor_frame: base_link (or whatever is your base frame on the robot)

matlabbe gravatar imagematlabbe ( 2017-02-25 15:28:23 -0600 )edit

We've tried that, and it didn't work :(

mincrmatt12 gravatar imagemincrmatt12 ( 2017-02-27 20:06:41 -0600 )edit

Can you show in RVIZ the point cloud used for the local costmap? How do you setup ZED TFs (see this post for example)?

matlabbe gravatar imagematlabbe ( 2017-02-28 06:56:57 -0600 )edit

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Asked: 2017-02-20 19:35:17 -0600

Seen: 185 times

Last updated: Feb 23 '17