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I am trying to understand better how RTABMap's setGoal service interacts with ROS2 Navigation (Nav2). I see lots of posts related to move_base but my understanding is that nav2 is quite a different animal. I am navigating while mapping (not in localization mode). It looks like I can connect setGoal up to /goal_pose but when I call the setGoal service, it seems to send n number of poses to the action server. Is there a way to just send and update the final pose for the goal node and let nav2 planner do it's thing?
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