Re: Sending Goals with RTABMAP and move_base

Posted by aibrain on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789p1850.html

Thanks for your help. After re-mapping, move_base now receives the goals.

My new issue is that the goal poses seem to specify orientations in which the z axis isn't strictly vertical. Since move_base doesn't expect that, it complains.

ROS_ERROR("Quaternion is invalid... for navigation the z-axis of the quaternion must be close to vertical.");

Is there a way to map so that the critical points are planar? I was considering remapping with depthimage_to_laserscan information, thinking that this may improve the robustness of the proj_map.