[Noetic, Rtabmap, move_base]I cannot resolve the error "The robot's start position is off the global costmap."

edit

I have set the robot's target point and orientation in "2D Nav Goal" in RViz and am trying to run the robot to the target point, but I get the following error message.

The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

I am asking this question because I have researched the error I am getting and have tried everything and it does not solve the problem.

The current situation looks like this.

• Activate sensors (fisheye camera, depth camera, etc.).
• Activate RTABMap.
• Activate move_base.
• Launch navigation.
• Specify the target in "2D Nav Goal" of RViz.
• Output the above error.

The robot makes a left turn and stops while the error is being output.

I see from the questions of others who have the same error as mine that it seems to be solved by changing the contents of "global_costmap_param.yaml". However, in my case, I am using RTABMap, so I wonder if the solution is a little different？

move_base.launch

<!-- 
    ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>

  <arg name="odom_frame_id"   default="t265_odom_frame"/>
  <arg name="base_frame_id"   default="robot_center"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="t265/odom/sample" />

  <arg name="laser_topic" default="scan" />


  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find realsense_controls)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find realsense_controls)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />   
    <rosparam file="$(find realsense_controls)/config/local_costmap_params_3d.yaml" command="load" />   
    <rosparam file="$(find realsense_controls)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find realsense_controls)/config/base_local_planner_params.yaml" command="load" />

    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>


    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="scan" to="$(arg laser_topic)"/>
  </node>
</launch>

global_costmap_param.yaml

#global_costmap
global_frame: /map
robot_base_frame: /robot_center
update_frequency: 1
publish_frequency: 1
always_send_full_costmap: false
#static_map: false
#rolling_window: true
plugins:
   - {name: static_layer, type: "rtabmap_ros::StaticLayer"}
   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

----------------------Editing ①.--------------------------------

After the change "move_base.launch" <launch>

  <arg name="odom_frame_id"   default="t265_odom_frame"/>
  <arg name="base_frame_id"   default="robot_center"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="t265/odom/sample" />

  <arg name="laser_topic" default="scan" />

<!--Added statement-->
  <remap from="map" to="/rtabmap/grid_map"/>


      <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find realsense_controls)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find realsense_controls)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />   
        <rosparam file="$(find realsense_controls)/config/local_costmap_params_3d.yaml" command="load" />   
        <rosparam file="$(find realsense_controls)/config/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find realsense_controls)/config/base_local_planner_params.yaml" command ...