[RTABMAP, Navigation, Noetic]Error:The goal sent to the navfn planner is off the global costmap.
I use RTABMAP and Navigation stack.
When I specify more than 4m ahead in "2D Nav Gaol" in move_base, I get the following error message.
The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal.
I want to set a goal point at least 10m away, but the robot does not work. The robot will go 3m away without error.
I have heard that I can fix it with the RTABMAP settings, but no matter what I look up I can't figure out how to set it up.
Below is the launch file for RTABMAP.
<launch>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="true" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="robot_center"/>
<arg name="odom_topic" default="/t265/odom/sample"/>
<arg name="rgbd_sync" default="true"/>
<arg name="approx_rgbd_sync" default="false"/>
<arg name="visual_odometry" default="false"/>
<!--<arg name="approx_sync" default="true"/>-->
<arg name="rgb_topic" default="/d400/color/image_raw" />
<arg name="depth_topic" default="/d400/aligned_depth_to_color/image_raw" />
<arg name="camera_info_topic" default="/d400/color/camera_info" />
<param name="Mem/UseOdomGravity" type="string" value="true"/>
<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
<param name="Vis/MaxDepth" type="string" value="3.5"/>
<param name="cloud_noise_filtering_radius" value="0.1"/>
<param name="cloud_noise_filtering_min_neighbors" value="2"/>
<!-- param name = "proj_max_ground_height" value = "0.2" / -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="rgbd_sync" value="$(arg rgbd_sync)"/>
<arg name="depth_topic" value="$(arg depth_topic)"/>
<arg name="rgb_topic" value="$(arg rgb_topic)"/>
<arg name="camera_info_topic" value="$(arg camera_info_topic)"/>
<arg name="approx_rgbd_sync" value="$(arg approx_rgbd_sync)"/>
<arg name="visual_odometry" value="$(arg visual_odometry)"/>
</include>
</launch>
What should I add to which part to solve this problem?
Is it possible that it is not the RTABMAP setting in the first place, but the Navigation stack setting?
Thank you.