help in global planner

[samim-17]

Hello
I cannot go forward using 2d nav goal when I have implemented your rrt global planner. I am currently trying to replace navfn global planner with your planner in the rtabmap_drone_example github repo. Currently my launch file look like this

<!-- navigation -->  
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
   <remap from="map" to="/rtabmap/grid_map"/>
   <remap from="odom" to="/rtabmap/odom"/>
   <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> 
   <!-- <param name="base_global_planner" value="global_planner/GlobalPlanner"/>-->

   <rosparam file="$(find rtabmap_drone_example)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
   <rosparam file="$(find rtabmap_drone_example)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
   <rosparam file="$(find rtabmap_drone_example)/param/global_costmap_params.yaml" command="load" /> 
   <rosparam file="$(find rtabmap_drone_example)/param/local_costmap_params.yaml" command="load" />
   <rosparam file="$(find rtabmap_drone_example)/param/base_local_planner_params.yaml" command="load" />
   <rosparam file="$(find robot_simulation)/launch/blocks/base_global_planner_rrt.yaml" command="load"/>
</node>

Does this need map to be already known or not ?
Please help ! ! !

[virajawate]

Hey I just saw your issue I will let you know over the weekend.

[virajawate]

Few things to point out. Please make sure about them,

1. Publish all the data for sensors is in sync
2. The global planner takes sample index of map from map_server

[samim-17]

How can I check these two things ? All the other default planner are working fine ( carrot and global_planner). Does this need a map to be known already ?

[samim-17]

Hello any updates ?