This is a new feature (on 0.8.3) to help setting goals accordingly to the current local map and independently of the mapping session. When the memory management is disabled, this should work like setting goals to
move_base on "/move_base_simple/goal" topic. For more information about setting goals to
move_base, visit the
navigation tutorials. The goal sent to
rtabmap is linked to the map's graph, so if the map's graph changes because of loop closures, the goal position is automatically updated and sent back to
move_base. A more detailed documentation should be done in the next weeks.
Here are the new topics added on the
rtabmap node:
Topic input:
- "goal" (
geometry_msgs/PoseStamped)
Topic output:
- "goal_out" (
geometry_msgs/PoseStamped)
- "goal_reached" (
std_msgs/Bool)
- "global_path" (
nav_msgs/Path)
- "local_path" (
nav_msgs/Path)
Parameters:
- "RGBD/GoalReachedRadius" (default 1 m)
So in a setup with
move_base, you may remap "goal_out" to "/move_base_simple/goal" and send your goals on rtabmap's "goal" topic. There is also a service "set_goal" (
rtabmap_ros/SetGoal) that can be used to set goal using a Node ID in the map's graph instead of a pose.
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