How to navigation using only rtabmap slam and move_base?

Hi.

I using Realsense D435 and custom rover, and I tried navigation with it, but I didn't get the results I wanted.

I have been searching, but haven't found out how to navigation using only slam node and move_base.

So I thought of a few ways, can I solve this problem by tying the tf tree to the slam's map topic and odom in both directions? If not, Is there a better way?

Thanks.

Asked by sleepbox on 2021-07-12 08:39:28 UTC

Comments

see the answer in this question for an example with slam + navigation for turtlebot 3

Asked by Humpelstilzchen on 2021-07-29 12:07:03 UTC

Answers

Have you read those tutorials? http://wiki.ros.org/navigation/Tutorials In general, the SLAM node will give map->odom TF and the odometry node will give odom->base_link (or odom->base_footprint) TF (see rep105). base_footprint to other fixed sensors on the robots would be published by a robot_state_publisher using the URDF of the robot.

Asked by matlabbe on 2021-07-29 08:01:46 UTC