rostopic echo /rtabmap/goal_reached Message not received

[Alexandru Iftimie]

The event of reaching the goal is printed in terminal as:
[ INFO] [1510255514.060680748]: Goal reached

But there is no message published in /rtabmap/goal_reached.
I compiled RtabMap from sources. Could that be a reason?
How can I receive the event of reaching the goal?

Thank you

[matlabbe]

Hi,

This log message is not sent by rtabmap, but by move_base: See https://github.com/ros-planning/navigation/blob/53087ca5242fb40f06c84a6bcc74057c3470eff7/dwa_local_planner/src/dwa_planner_ros.cpp#L154

To have a feedback to know when move_base has reached the goal, see http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals

The topic /rtabmap/goal_reached will be sent only if you send goals to rtabmap (with /rtabmap/goal) instead of move_base (/move_base_simple/goal).

cheers,
Mathieu

[Alexandru Iftimie]

Thank you for your response.
I also had to add in demo_turtlebot_mapping.launch:
<remap from="/rtabmap/goal_out" to="/move_base_simple/goal"/>
Then it worked :D