move_base and rtabmap

Posted by aviadoz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/move-base-and-rtabmap-tp6108.html

Hi,

I am doing some navigation tests in my lab. I am using rtabmap and move_base. I noticed that only when the "/rtabmap/localization_pose" publish data, move_base "heard" it and not take care about the data by /odom topic which I publish. For example, if the robot is in a place which there is a few frames that captured in the mapping stage (so it is more difficult to localized itself) the robot is rotate a lot until the "/rtabmap/localization" topic (I saw it in rviz) is lighting and the robot start driving. The same thing happen also when the robot arrives to its goal. In the odom msg the robot considered that it is arrive but move_base stop the robot only if rtabmap publish the pose. Is it okay?in the launch file move_base is subscribe to "odom" topic.

Thanks,
Aviad