How to label nodes and send goals from rtabmap interface?

Posted by Pi Robot on Nov 29, 2015; 4:22pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-label-nodes-and-send-goals-from-rtabmap-interface-tp903.html

Hello,

Sorry if this is documented somewhere but I can't find it.  I am trying to figure out how to label nodes on the map graph and then send goals using the rtabmap interface.  I can already send goals in RViz but I wanted to try it in rtabmap.  So first I run:

$ rtabmap

Then I open my existing database at ~/.ros/rtabmap.db, place rtabmap in Localization mode, and "Download all clouds" from the Edit menu.  The 3D map appears OK.

I then select the Graph View and do a "Download graph only" from the Edit menu.  The 2D map and graph appear.  When I zoom in on the map and mouse over a node, a popup indicates the node ID (say 161 for example) and coordinates.  However, if I then try to send this node ID as a goal using the Detection->Send Goal menu item, I always get the error popup as follows:

Setting goal failed!
Setting goal to location 161 failed. Some reasons:
1) the location doesn't exist in the graph,
2) the location is not linked to the global graph or
3) the location is too near of the current location (goal already reached).

And in the console window I see the error "Failed to compute a path to goal 161.

I'm sure I'm missing a bunch of steps.  Can someone help?

Thanks!
patrick