Re: need some help in getting path planning to work with rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/need-some-help-in-getting-path-planning-to-work-with-rtabmap-tp7276p7310.html

A couple of things :)
* You don't need map_server if you are using rtabmap in localization mode.
* You should remove those static transforms:
<node pkg="tf" type="static_transform_publisher" name="base_link_map" args="0 0 0 0 0 0 /base_link /map 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_odom" args="0 0 0 0 0 3.14 /base_link /odom 100"/>

I am more interested to your tf tree:
rosrun tf view_frames

You should have something like this I think:
map->cam_t265_odom_frame -> cam_t265_pose_frame -> cam_t265_link

Make sure you are publishing your goal from rviz on the right topic, it seems the standard topic name has been renamed on /planner_goal:
<remap from="move_base_simple/goal" to="/planner_goal"/>

cheers,
Mathieu