Re: Sending Goals with RTABMAP and move_base

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789p6500.html

Can you do a rostopic echo of the goal topic sent to move_base when the error happens?

Also attach the graph to this post:

$ rostopic echo /rtabmap/mapGraph

A fix could be to normalize the quaternion before sending it to make sure it is valid. The transform taken from rtabmap is converted to a pose message here before being published. Inside that function, we could do like in that function and normalize the quaternion. If this fixes the problem, I will make the change.

cheers,
Mathieu