Sending goals to navigation stack through code

[chua1]

Hi,

I think this question is not really related to rtabmap, but I'm hoping that you could point me to the right direction.

I am able to send goals to navigation stack following tutorials on this site http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals. My question is, how can I verify that the location of the goal pose itself is free of obstacles(a valid goal pose)? I'm trying to code up something that will generate valid goal poses by itself.

Thanks,
CJ

[matlabbe]

Hi,

In this tutorial, you would have a feedback if the goal can be reached or not. To know if the cell is empty before sending a goal, you would need to subscribe to the /map (nav_msgs/OccupancyGrid), and look yourself if the cell is empty before sending the goal.

On ROS answers, you could get more feedback for ROS general questions.

cheers,
Mathieu