Re: move_base and rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/move-base-and-rtabmap-tp6108p6139.html

"/rtabmap/localization_pose" is not connected to move_base. If you are sending goals directly to "move_base_simple/goal", the behaviors (like rotating on place when the robot is stuck) you are seeing are coming from move_base, not rtabmap. The only thing that could influence move_base is if a relocalization is detected from rtabmap, the frame /map -> /odom TF will change, so move_base may have to replan a path. The /rtabmap/grid_map can also change, causing a replanning from move_base.