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I recently started using mrpt-ros-pkg and I launched the file using: 

roslaunch mrpt_reactivenav2d reactive_nav_demo_with_mvsim.launch

Everything is working fine except that I cannot get the robot to move using 2D Nav Goal on rviz. I get the data published to /move_base_simple/goal topic, but the robot does not move.

However when I add a panel to rviz and use Teleop with the topic /cmd_vel, I can navigate the robot around (without defining goal positions)

Jean-François Corbett
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Naya Baslan
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  • Double check where `move_base` is publishing the velocity commands it computes and whether that matches `/cmd_vel`. – mikkola Oct 04 '17 at 18:35
  • @mikkola Here is what happens: the data is published to `/cmd_vel`, but it is always 0. The target coordinates are saved in `multiple_targets` and `target[0]` gives the correct goal coordinates. However, Single Target still has zeros as coordinates and this is what gets sent to `/cmd_vel` – Naya Baslan Oct 09 '17 at 09:16

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