Relationship between RTABMap and Navigation2

Posted by hoffer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Relationship-between-RTABMap-and-Navigation2-tp10431.html

I am trying to understand better how RTABMap's setGoal service interacts with ROS2 Navigation (Nav2). I see lots of posts related to move_base but my understanding is that nav2 is quite a different animal. I am navigating while mapping (not in localization mode). It looks like I can connect setGoal up to /goal_pose but when I call the setGoal service, it seems to send n number of poses to the action server. Is there a way to just send and update the final pose for the goal node and let nav2 planner do it's thing?