Re: RTAB localization move_base no connection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-localization-move-base-no-connection-tp5940p5951.html

Hi,

If the robot is moving with Patrol, look at which topic Patrol is sending goals ("$ rosnode info patrol"). If it is /rtabmap/goal, to make it work in RVIZ, you should go in Tools properties, and change the 2D Nav Goal button's topic to /rtabmap/goal.

In localization mode, the robot localizes locally with the scans, but also localizes globally with images. If the robot can localize visually, it should teleport to that location. Maybe in your case the loop closure hypothesis didn't get high enough to do global localization.

cheers,
Mathieu