Rtabmap cannot recieve navigation goals

[nizwajaved]

Hello,

I am a beginner in ROS. I am trying implementation of Rtabmap on dingo robot by clearpath. I am using Lidar+realsenseD435i+odom> I am able to generate map and save it. When I run it in localization mode , I operate the robot around in gazebo using teleops, after a while the robot is able to localize itself and the map shows up. However, whenever I try to give it a navigation goal using 2D nav in Rviz, it does not move. I checked the topic move_base_simple/goal and it is publishing the goal. I have remapped rtabmap/goal to move_base_simple/goal in the launch file but still no success. It seems that Rtabmap is not receiving the navigation goal. Can someone please point out what I might be doing wrong? It's been a week since I've been trying to figure it out
Here is my launch files and config files:

rtabmap.launch
move_base.launch
base_local_planner_params.yaml
costmap_common_params.yaml
move_base_params.yaml
global_costmap_params.yaml
local_costmap_params.yaml

[matlabbe]

Hi,

If you are publishing to /move_base_simple/goal, this is directly to move_base. So if the robot doesn't move, this is a move_base issue. Does move_base output warnings on terminal saying it cannot plan?

cheers,
Mathieu

[nizwajaved]

Hi Mathieu,

Thanks for your reply. There are no errors printed for move_base. The terminal prints this:


0s, RTAB-Map=0.0942s, Maps update=0.0022s pub=0.0000s (local map=227, WM=227)
[ WARN] (2021-02-27 21:47:21.927) RegistrationVis.cpp:147::parseParameters() Vis/MinInliers should be >= 6 but it is set to 5, setting to 6.
[ WARN] (2021-02-27 21:47:21.969) RegistrationIcp.cpp:1138::computeTransformationImpl() ICP PointToPlane ignored for 2d scans with PCL registration (some crash issues). Use libpointmatcher (Icp/PM) or disable Icp/PointToPlane to avoid this warning.
[ INFO] [1614480441.978002499, 2452.559000000]: rtabmap (3059): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1078s, Maps update=0.0021s pub=0.0000s (local map=227, WM=227)
[ WARN] (2021-02-27 21:47:22.965) RegistrationVis.cpp:147::parseParameters() Vis/MinInliers should be >= 6 but it is set to 5, setting to 6.
[ WARN] (2021-02-27 21:47:23.007) RegistrationIcp.cpp:1138::computeTransformationImpl() ICP PointToPlane ignored for 2d scans with PCL registration (some crash issues). Use libpointmatcher (Icp/PM) or disable Icp/PointToPlane to avoid this warning.
[ INFO] [1614480443.015409097, 2453.575000000]: rtabmap (3060): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1167s, Maps update=0.0036s pub=0.0000s (local map=227, WM=227)


I checked rqt_graph for rtabmap and move base node (attached below)

It seems that move_base is not connected to rtabmap. Is it possible that I need to remap some move_base parameters?



I have followed navigation stack provided by clear path robotics for dingo robot
I am copying the move_base launch file below:


launch>

  <group if="$(optenv DINGO_OMNI 0)">
    <rosparam file="$(dirname)/../../params/dingo_o_params.yaml" command="load" />
  </group>
  <group unless="$(optenv DINGO_OMNI 0)">
    <rosparam file="$(dirname)/../../params/dingo_d_params.yaml" command="load" />
  </group>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <rosparam file="$(dirname)/../../params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(dirname)/../../params/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(dirname)/../../params/map_nav_params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(dirname)/../../params/map_nav_params/global_costmap_params.yaml" command="load" />

    <rosparam file="$(dirname)/../../params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(dirname)/../../params/move_base_params.yaml" command="load" />

   
   

    <remap from="odom" to="odometry/filtered" />
  </node>

</launch>

Please let me know if you can find what I am doing wrong. I have been trying to fix this constantly but unfortunately couldn't find something similar online

Thank you so much !

[nizwajaved]

I was missing a line in the rtab launch file

<remap from='grid_map' to='/map'/>

Now it works!

[matlabbe]

Indeed, if move_base is not receiving any map, it won't do anything. I am surprised it doesn't tell that its map is empty and cannot plan...