Re: is it possible to label a location and make it recallable?!

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/is-it-possible-to-label-a-location-and-make-it-recallable-tp8855p8864.html

Hi,

yes, you can see the example in this video: https://youtu.be/A487ybS7E4E

See label related services:

rosservice list | grep label
/rtabmap/rtabmap/list_labels
/rtabmap/rtabmap/remove_label
/rtabmap/rtabmap/set_label

Once labels are added to map, we can send a goal with set_goal service:

rosservice call /rtabmap/rtabmap/set_goal "node_id: 0
node_label: ''
frame_id: ''"

or publish on goal_node topic. Rtabmap will find the corresponding node of the label and republish its pose on goal_out topic.

cheers,
Mathieu