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KAIST-Hubo-Lab/MobileRB5_navigation_WRS

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path_planning

Set up

  • install ros-kinetic-octomap files (octomap, server, rviz-plugin)
  • move the realsense launchfile to realsense directory
  • move the rtabmap launchfile to rtabmap directory.

Running path planning with Rtabmap

  • git clone this repository into your catkin workspace
$ roslaunch realsense2_camera rs_rgbd_hubostanding.launch
$ roslaunch rtabmap_ros rtabmap_hubo.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/aligned_depth_to_color/camera_info rviz:=true rtabmapviz:=false frame_id:=hubo_base_link
$ rosrun mobile_path_planning fake_octomap 
$ rosrun mobile_path_planning mobile_path_planning

Additional notes

  • can play off rosbag data.
  • can modify goal pose by publishing new pose

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