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asked 2017-11-08 13:32:55 -0500

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I have obtained a map using RTAB-Map. Now I want to use the point cloud obtained to navigate from a place in the map to the required goal created using the Kinect XBOX 360 and RTAB-Map. Please suggest how should I do it?

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answered 2017-11-09 08:17:37 -0500

bpinaya gravatar image

Hi there, this is a quite common task that is solved with the ROS Navigation Stack ( http://wiki.ros.org/navigation ) You can install it like this:

sudo apt-get install ros-indigo-navigation

assuming you have Ros Indigo installed, if you have Kinetic, just change it to kinetic.

Since you have a Kinect XBOX you also want to look into the Turtlebot navigation package ( http://wiki.ros.org/turtlebot_navigation )

You'll end up with something looking like this: image description

But for that t happen you need to convert your pointcloud to a laserscan, good luck for you there is a package for that ;) Check it here: http://wiki.ros.org/pointcloud_to_las...

Afterwards, you use the navigation stack and create your map with the laser scan, it'll be as easy as publishing a 2D Nav Goal for your robot to navigate. Good luck!

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Asked: 2017-11-08 13:32:55 -0500

Seen: 407 times

Last updated: Nov 09 '17