Re: Configure path planning

Posted by ievolve on Sep 10, 2024; 8:52pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Configure-path-planning-tp10430p10435.html

Thanks Mattieu!

So if I understand correctly, when "use_action_for_goal" is false, nav2 should NOT start navigating when the "set_goal' service is called?  

My experience is that rtab always sends global_path to nav2 and begins navigating irregardless if "use_action_for_goal" is true or false.  I think I just dont understand fully how this flag should behave.

Perhaps I should just monitor the /labels topic and pull off the negative id's (these are the labels) and send the pose of the label directly to nav2?  Would that work?