scan topic can not connect to move_base

[yyz]

why /scan can't connect to move_base ?

my launch file:
<?xml version="1.0"?>

<launch>
 
     
    <arg name="localization"      default="false"/>
    <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
    <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
     
        <include file="$(find freenect_launch)/launch/freenect.launch">
                <arg name="depth_registration" value="true"/>               
        </include>
       

    <node pkg="tf" type="static_transform_publisher" name="camera" args="0.25 0 0.12 0 0 0 base_link camera_link 100"/>
        <node pkg="tf" type="static_transform_publisher" name="laser"  args="0.25 0 0.12 0 0 0 base_link laser 100"/>
   
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
                <remap from="image"        to="/camera/depth_registered/image_raw"/>
                <remap from="camera_info"  to="/camera/depth_registered/camera_info"/>   
        </node>
   
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
      <remap from="odom"            to="/odom"/>
     
     
         
           
     
     
     </node>
   
     
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
     
     
     
           
     
     

      <remap from="odom"    to="/odom"/>
      <remap from="scan"    to="/scan"/>
      <remap from="mapData" to="mapData"/>

      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>

      <remap from="goal_out"  to="current_goal"/>       
      <remap from="move_base" to="/planner/move_base"/>
      <remap from="grid_map"  to="/rtabmap/grid_map"/>

     
                 
     
 
                         
         
       
       
     
         
     
     
     
     
     
     
     

     

     
     
           
 
     
     
     
         
     
     
     
           

     
     
     
     
    </node>
  </group>
    <group ns="planner">
      <remap from="map"                   to="/rtabmap/grid_map"/>       
      <remap from="odom"                  to="/odom"/>
          <remap from="scan"                  to="/scan"/>
          <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
           
                <rosparam file="$(find rtabmap_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
                <rosparam file="$(find rtabmap_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
                <rosparam file="$(find rtabmap_nav)/config/local_costmap_params.yaml" command="load" ns="local_costmap"/>
                <rosparam file="$(find rtabmap_nav)/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
                <rosparam file="$(find rtabmap_nav)/config/base_local_planner_params.yaml" command="load"/>
          </node> 
        </group>
<include file="$(find rtabmap_nav)/launch/smooth_speed.launch"/> 

</launch>

[matlabbe]

How the obstacle_layer is defined in your move_base yaml files?

You may need something like this:

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3
  track_unknown_space: true

  observation_sources: laser_scan_sensor

  laser_scan_sensor: {
    data_type: LaserScan,
    topic: scan,
    expected_update_rate: 0.1,
    marking: true,
    clearing: true
}

[yyz]

Mathieu,
thanks,now scan topic connect to move_ base


and this is my map



now I have a new problem,when I clicked 2D Nav Goal,nothing happed.I don't know why.

Have a nice day

[matlabbe]

Look at this tutorial to know how sending goals to move_base works.

[yyz]

Hi

thanks, I have solved it.