Re: Autonomous Navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-tp801p845.html

Hi,

2) In RVIZ, open the "Panels->Tool Properties" panel, then set the 2D nav goal topic to /rtabmap/goal like in the first video. rtabmapviz is not required. In that setup, only RVIZ is launched from the client computer.

On the robot, move_base is still required. The goal that rtabmap receives is resent to move_base, you can see it by adding a Pose display in RVIZ and set topic to /rtabmap/goal_out (you will have the red arrow like in the videos). As the robot is moving through this goal, the red arrow will change position until the final goal (sent over /rtabmap/goal) is reached.

If you want to see the paths planned by rtabmap and move_base, add Path displays to RVIZ and add referred topics (rtabmap global plan, move_base global and local plans).

cheers