Re: rtab map navigation stack error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtab-map-navigation-stack-error-tp2158p2188.html

Hi,

They are warnings. Just make sure in RVIZ that the global costmap looks okay. In mapping mode, the global map can change dimension as the robot moves. The "Illegal bounds change" warning seems related to obstacle layer of the global costmap. Maybe the obstacle layer tries to update points outside the static map size. You could comment the obstacle_layer line in global_costmap_params.yaml. You could also set a minimum size of the static map using parameter "grid_size" (in meters) for the rtabmap node

cheers,
Mathieu