Re: Error:The goal sent to the navfn planner is off the global costmap.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-The-goal-sent-to-the-navfn-planner-is-off-the-global-costmap-tp9216p9218.html

You may try to plan outside the size of the occupancy grid. To make an initial large occupancy grid, you can set GridGlobal/MinSize to 100 m for example. Note also that in your launch file, you should set the parameters with "rtabmap/rtabmap" namespace.

<param name="rtabmap/rtabmap/GridGlobal/MinSize" type="string" value="100"/>
<param name="rtabmap/rtabmap/Mem/UseOdomGravity" type="string" value="true"/>
<param name="rtabmap/rtabmap/Optimizer/GravitySigma" type="string" value="0.3"/>
<param name="rtabmap/rtabmap/Vis/MaxDepth" type="string" value="3.5"/>