Re: Sending Goals with RTABMAP and move_base

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789p1794.html

Hi,

the goals are sent on /rtabmap/goal_out topic. Either remap this topic to "/move_base_simple/goal" (input of move_base) or set "use_action_for_goal" to true in rtabmap.launch (under rtabmap node). The later will connect to move_base actions interface, so it will have feedback if move_base fails executing a goal.

For convenience, note that you can send also poses as goals with RVIZ to rtabmap with the "2D nav goal" tool, just set /rtabmap/goal as the topic to send them. You can also send goals directly to move_base on "/move_base_simple/goal" topic.

cheers