Navigation Path Planning - only follows graph map paths

Posted by joshcorn on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-Path-Planning-only-follows-graph-map-paths-tp4737.html

Hi there,
I am trying to integrate my navigation stack (GlobalPlanner, dwa_local_planner, move_base) with rtabmap and I understand that I should send goals through rtabmap instead of directly to move_base in order to have the goals update with localization. The issue is that when I send nav goals through Rviz (/rtabmap/goal) the path that is generated is only along the original paths that were created during mapping as shown in the graph map. It always snaps the robot back along those lines. If I send the goal directly to /move_base_simple/goal however, a new path is planned but when a closure occurs, the goal location doesn't update. I would like the global and dwa_local planners to handle the path but only have rtabmap produce and update the nav goal. Is that possible?

Thanks in advance!
-Josh