Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id)

launch/azimut3/config/azimut3_nav.rviz

@@ -6,23 +6,23 @@ Panels:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
-        - /Info1/Status1
-        - /MapGraph1
+        - /MapCloud1
+        - /Path1
+        - /Path2
       Splitter Ratio: 0.601881
-    Tree Height: 337
+    Tree Height: 437
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Views
     Expanded:
       - /Current View1
-      - /Current View1/Focal Point1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: Image
+    SyncSource: ""
   - Class: rviz/Tool Properties
     Expanded:
       - /2D Pose Estimate1
@@ -127,8 +127,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 5.19727
-        Min Value: -0.547517
+        Max Value: 3.46596
+        Min Value: -5.27159e-08
         Value: true
       Axis: X
       Channel Name: intensity
@@ -136,7 +136,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: AxisColor
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: 4096
@@ -152,7 +152,7 @@ Visualization Manager:
       Topic: /base_scan
       Use Fixed Frame: false
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 0.7
       Class: rviz/Map
       Color Scheme: map
@@ -173,10 +173,10 @@ Visualization Manager:
       Class: rviz/Map
       Color Scheme: costmap
       Draw Behind: false
-      Enabled: true
+      Enabled: false
       Name: Map
       Topic: /planner/move_base/global_costmap/costmap
-      Value: true
+      Value: false
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
@@ -249,7 +249,7 @@ Visualization Manager:
       Value: true
       Visual Enabled: true
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: /camera/data_throttled_image_relay
       Max Value: 1
       Median window: 5
@@ -258,7 +258,7 @@ Visualization Manager:
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -384,32 +384,32 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 14.3083
+      Distance: 3.44552
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.91382
-        Y: -0.564774
-        Z: 0.661231
+        X: 0.0430748
+        Y: -0.00858197
+        Z: -0.156054
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 1.4054
-      Target Frame: <Fixed Frame>
+      Pitch: 0.9304
+      Target Frame: base_footprint
       Value: Orbit (rviz)
-      Yaw: 3.1704
+      Yaw: 2.26538
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
-  Height: 826
-  Hide Left Dock: false
+    collapsed: true
+  Height: 504
+  Hide Left Dock: true
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000151000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000192000000dd00fffffffb0000000a0049006d00610067006501000001c00000015c0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002f4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ad000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001510000028ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000280000028f000000dd00fffffffb0000000a0049006d006100670065000000018a0000012d0000001600fffffffb0000000a0049006d0061006700650000000184000000490000000000000000fb0000000a0049006d006100670065010000027d000000fa0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002f7000000800000006400ffffff000000010000010f000001b2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001b2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002ca000001b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -418,6 +418,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1561
-  X: 42
-  Y: 53
+  Width: 714
+  X: 935
+  Y: 32

launch/azimut3/config/local_costmap_params_laser_only.yaml

@@ -0,0 +1,33 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 2.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 4.0
+  height: 4.0
+  resolution: 0.025
+  origin_x: -2.0
+  origin_y: -2.0
+
+  observation_sources: laser_scan_sensor
+  #observation_sources: laser_scan_sensor point_cloud_sensor
+
+  laser_scan_sensor: {
+    data_type: LaserScan, 
+    topic: base_scan, 
+    expected_update_rate: 0.2, 
+    marking: true, 
+    clearing: true}
+
+  # assuming receiving a cloud from rtabmap/obstacles_detection node
+  #point_cloud_sensor: {
+  #  sensor_frame: base_footprint,
+  #  data_type: PointCloud2, 
+  #  topic: openni_points, 
+  #  expected_update_rate: 0.5, 
+  #  marking: true, 
+  #  clearing: true,
+  #  min_obstacle_height: -99999.0,
+  #  max_obstacle_height: 99999.0}