Rtabmap + navigation stack on roomba

[owner01]

Hi,

I am using a roomba 780 as my base vehicle.
The create_autonomy library is used to send cmd_vel to the roomba and retrieve its odometry.
I want to use the rtabmap/grid_map topic with my navigation stack but when following this link:
Here  It wont work.
The robot will rotate in place like its recovery behaviour.
How can this behaviour be avoided?
rtabmap/grid_map:

global_costmap:

local_costmap:


As can be seen something is found on the local costmap but even when the route is free it will keep in recovery

[matlabbe]

Hi,
some suggestions here: http://answers.ros.org/question/249015/use-rtabmapgrid_map-for-move_base/