Re: How to configure Navigation with RTABMap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-configure-Navigation-with-RTABMap-tp505p512.html

Hello,

After bringing up turtlebot with rtabmap:

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

normally, you only have to "drop" a navigation goal on the map with RVIZ to see the robot moving autonomously to it. click on "2D Nav Goal" button in RVIZ to set a goal.

You should see a planned path (red line) like this to the goal set (green arrow):


The commands sent by move_base:

$ rostopic echo /mobile_base/commands/velocity


cheers,
Mathieu