Re: scan topic can not connect to move_base

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/scan-topic-can-not-connect-to-move-base-tp3673p3676.html

How the obstacle_layer is defined in your move_base yaml files?

You may need something like this:

obstacle_layer:
  obstacle_range: 2.5
  raytrace_range: 3
  track_unknown_space: true

  observation_sources: laser_scan_sensor

  laser_scan_sensor: {
    data_type: LaserScan,
    topic: scan,
    expected_update_rate: 0.1,
    marking: true,
    clearing: true
}