rtabmap/move_base - how to define no-go zones.

asked 2020-04-30 09:37:08 -0500

Dragonslayer gravatar image

updated 2020-04-30 09:37:50 -0500

Hi, can someone please point me to current information as to how to define absolute no-go zones with rtabmap and movebase. As rtabmap can be used with "map refining", slam while in localization mode, I wonder how to make this kind of navigation setup absolutly avoid certain areas. There is talk in some threads about this but they are from way back 2013 etc. Thanks. Help would be appreciated.

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In rtabmap-databaseViewer, it is possible to create fake obstacles with File->Edit optimized 2D map... so move_base won't be able to plan a path there.

matlabbe gravatar image matlabbe  ( 2020-05-25 19:41:19 -0500 )edit

Thanks for the answer, the question is, will rtabmap get problems with localization if the map is altered and dont fit the reality anymore? In my case its about a desk, thus a big change.

Dragonslayer gravatar image Dragonslayer  ( 2020-05-26 09:20:02 -0500 )edit

The manual editions are ignored for localization (unless when you clear obstacles and you accept to clear the underlying laser scans when the question is asked). If it is the real environment that changes, yes it will alter localization.

matlabbe gravatar image matlabbe  ( 2020-05-26 09:45:47 -0500 )edit

Thanks. I think I have to go with some kind of move_base hack then.

Dragonslayer gravatar image Dragonslayer  ( 2020-05-27 10:58:17 -0500 )edit