Re: Configure path planning

Posted by teelusk on Sep 10, 2024; 11:13pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Configure-path-planning-tp10430p10436.html

Mathieu,

I'm having the same issue where rtabmap is triggering navigation, even if I have that `use_action_for_goal` set to false.

I did also test using the `send_goal` service, noting the last pose in that response and compared it to the corresponding value in `/labels` topic and it doesn't appear that these poses match (see example below, formatted for readability)

## From /labels
{
    "pose": {
        "position": {
            "x": -1.5404587984085083,
            "y": -0.8287004828453064,
            "z": 0.0
        },
        "orientation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0,
            "w": 1.0
        }
    }
}


## Final pose from set_goal response
{
    "pose": {
        "position": {
            "x": -1.5439865589141846,
            "y": -0.9379720687866211,
            "z": 0.0
        },
        "orientation": {
            "x": 0.0,
            "y": 0.0,
            "z": -0.4504116365085988,
            "w": 0.8928210305676616
        }
    }
}