use move_base client with goal_node topic

[mrmichaelmak]

Hi Matthieu,

As far as I understand, if you want to pass a label as a goal, you can only use the goal_node topic which means you can't use move_base client. Is there a way for me to pass a label as a goal and still be able to access actionlib features like feedback and such with an actionlib client? Otherwise then I will have to write another actionlib server and client but they will be echoing the feedback topic that is already published via rtabmap_ros

Cheers
Michael

[matlabbe]

Hi Michael,

If you set a goal_node, rtabmap will either republish the goal on goal_out topic (that you can connect to move_base_simple/goal), or enable "use_action_for_goal" (recommended) for rtabmap node so that it publishes the goal directly to move_base with actionlib.

cheers,
Mathieu

[mrmichaelmak]

Hi Matthieu,

Thank you for your reply.

Is there a way for me to get the XYZ location of a labelled location from rtabmap?

Kind regards
Michael

[matlabbe]

Hi,

You can get labels location with "labels" topic.

Mathieu

[mrmichaelmak]

Hi Matthieu,

Thank you for the swift reply!

Btw I read that by connecting the goal topic to move_base (using "use_action_for_goal") feedbacks into rtabmap. What does rtabmap do with that feedback?

Michael

[matlabbe]

Hi Micheal,

the feedback is used to know if move_base fails (e.g., the path is blocked my a new obstacle), so that rtabmap can know it and change the current goal.

cheers,
Mathieu