srv/SetGoal.srv

#request

# Set either node_id or node_label
int32 node_id
string node_label

# optional: if not set, the base frame of the robot is used
string frame_id

---

#response 
int32[] path_ids
geometry_msgs/Pose[] path_poses
float32 planning_time
Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id) 2015-02-06 13:56:20 -05:00			`#request`
Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal 2019-01-18 18:05:07 -05:00
Updated to RTAB-Map 0.8.5: Added node labeling service, and set goal by label 2015-02-27 15:26:30 -05:00			`# Set either node_id or node_label`
			`int32 node_id`
			`string node_label`
Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal 2019-01-18 18:05:07 -05:00
			`# optional: if not set, the base frame of the robot is used`
			`string frame_id`

Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id) 2015-02-06 13:56:20 -05:00			`---`
Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal 2019-01-18 18:05:07 -05:00
Updated to 0.10.8: rtabmapviz can receive goals (new topic /rtabmap/goal_node, ne msg rtabmap_ros::Goal) synchronized with global path 2015-09-21 16:37:35 -04:00			`#response`
			`int32[] path_ids`
Added missing changes for issue #40 2015-10-27 22:15:04 -04:00			`geometry_msgs/Pose[] path_poses`
			`float32 planning_time`