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Hi, we're currently setting up a robot using stereo navigation using rtabmap_ros and a zed. We're using the pointcloud to generate costmaps, and we can send goals via 2D Nav Goal using rviz which gives us a plan and allows move_base to send a /cmd_vel message.

We've got a few problems though, first of all we want to be able to send goals outside of the global cost map by having the user clicking a regular map (that is, the user has a map, but the robot simply receives a goal outside of its costmap). Obviously this makes it impossible for the planner to make a plan, but we want to explore the perimeter of the global cost map in order to reach the goal. How can this be done?


Originally posted by aaser on ROS Answers with karma: 3 on 2016-08-03

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In rtabmap, you can initialize the minimum size of the map with grid_size parameter:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="grid_size" type="double" value="50"/> <!-- 50 meters wide -->
</node>

cheers


Originally posted by matlabbe with karma: 6409 on 2016-08-03

This answer was ACCEPTED on the original site

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