Re: Sending Goals with RTABMAP and move_base

Posted by felipeduque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789p6488.html

(Bumping this old thread for I'm facing the same issue)

Sometimes "move_base" complains that the goal's quaternion is invalid, saying that it should be close to vertical. However, it happens only sometimes (lately, more often than not), and I'm sending the goals via rtabmapviz - I'm sending the node ID as the goal. What could be the problem?

Edit: I've just noticed that it only happens for certain nodes, e.g., if I set node 131 as the goal, the robot moves accordingly. If I set node 120, the quaternion error comes up.