Occupancy Grid Mapping refers to a family of computer algorithms which address the problem of generating maps from noisy and uncertain data.
This is a work in progress and I will keep making changes to the repository for a while. If you find any difficulty in using some notebook or script, please feel free to create an issue. Here, they suggest to use two modules one with world = odom to fuse continuos data, one with world = map to fuse the previous module and the "GPS" but as of now it's working correctly as it is.Using pre-trained Deep Learning models and Transformations for generating occupancy maps. In this way I'm able to get both the tf map->odom and odom->base_link. In the EKF here I fuse then the velocities of my odom source with the acceleration of the IMU and since we're in 2D-flat surface I'm not really interested in roll and yaw.Īnother difference is the set (odom,world,map)_frame where you set both "world" and "map" to map but I need this as odometry source and hence I set "world" to odom frame. There I add noise directly to the velocities after having applied them through a PID controller. My odometry is a custom one that I obtain through a custom plugin (mostly based on p3d) since my robot is omnidirectional.
For example my table at home is much larger that the robot so if I use only the LRF I can see only four obstacles but the robot can't pass through them In general the throughput of rtabmap is quite good with the given settings (around 100/200 ms)Īn additional question: is it possible to use BOTH laser scans (LRF) and depth to build the map? I have the feeling that laser scans are much more precise but depth readings can see for example chairs or the table and project that information to avoid collision. For loop closure I'm using both rgbd+icp registration (strategy=2) and optimizer either gtsam or g2o.
Short story long I'm using a simulated Realsense D435 placed vertically on my robot, doing for now visual odometry and use these rgbd data to place obstacles in the map. I've attached my database here with current settings if you can check it out. I'm trying to use my rgbd data to get obstacles in the map but I'm probably doing something wrong. My occupancy grid seems correct while my 2D map is not. Hi, I've a strange problem with my rtabmap.
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