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-tp1789p1829.html

Hi,

The error says that it cannot connect to move_base. Either move_base is not running or it is in a different namespace or have a different name.

The move_base action client is created here:

mbClient_("move_base", true)

You may have to remap "move_base" to something else if on your system it has a different name or is in a different namespace:

<group ns="rtabmap">
   <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
      [...]
      <remap from="move_base" to="/move_base"/>
   </node>
</group>

In this example, rtabmap node is created in rtabmap namespace, to the default name is "/rtabmap/move_base". It is renamed to public namespace instead: "/move_base".

cheers