Re: Navigate to a point outside graph

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigate-to-a-point-outside-graph-tp873p878.html

If rtabmap tells that the goal is reached, this is the problem (it should not say that it is reached in your test). I'll test on my side.

"RGBD/GoalReachedRadius": When the robot enters in this radius the last pose of the path (the goal), rtabmap tells that the goal is reached and stops sending poses to move_base. move_base can still send commands until the last pose is reached in its own "goal reached" parameters (distance and angle).

"RGBD/LocalRadius": It has multiple roles. Maximum distance from the graph that a goal can be set. Maximum distance on the path from the current position for the poses sent to move_base. Used also for local/proximity loop closure detection. It is preferred to set the value to maximum range of the sensor used to create the map.

cheers