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@NNie2019:

I know you asked your question back in 2019, but I recently ran into the same problem and may have an answer for those who might run into it as well.

First, your launch file is correct for loading the costmap_2d node in standalone mode. I'd recommend you make sure that the messages are printed to the terminal for easier debugging by adding the ... output="screen" /> tag in the node call.

Now, since you're not specifying any plugins in your params yaml file, you should see a message printed out to your terminal stating that no plugins were specified and that some pre-Hydro parameters will be loaded. Something similar to this:

[ WARN] [1617798485.487554072, 1613598132.219868821]: costmap: Parameter "plugins" not provided, loading pre-Hydro parameters

[ INFO] [1617798485.493183425, 1613598132.219868821]: costmap: Using plugin "obstacle_layer"

[ INFO] [1617798485.515048394, 1613598132.240097096]: Subscribed to Topics:

[ INFO] [1617798485.523665166, 1613598132.250172045]: costmap: Using plugin "inflation_layer"

Since you're not seeing this message, it probably means that the node is waiting for the tf transform between your global frame and your robot base frame - map and zed_camera_center, respectively according to your parameter yaml file.

Make sure that the \tf topic is being published with this transform and you should see the costmap node start doing things. Namely, the first thing you should see is that plugin message like I mentioned above.

If it turns out that you're having a different issue, I recommend that you build the navigation stack from source and add print statements to the costmap node files to see where it might be failing you.

Good luck!

@NNie2019:

I know you asked your question back in 2019, but I recently ran into the same problem and may have an answer for those who might run into it as well.

First, your launch file is correct for loading the costmap_2d node in standalone mode. I'd recommend you make sure that the messages are printed to the terminal for easier debugging by adding the ... output="screen" /> tag in the node call.

Now, since you're not specifying any plugins in your params yaml file, you should see a message printed out to your terminal stating that no plugins were specified and that some pre-Hydro parameters will be loaded. Something similar to this:

Since you're not seeing this message, it probably means that the node is waiting for the tf transform between your global frame and your robot base frame - map and zed_camera_center, respectively according to your parameter yaml file.

Make sure that the \tf topic is being published with this transform and you should see the costmap node start doing things. Namely, the first thing you should see is that plugin message like I mentioned above.

If it turns out that you're having a different issue, I recommend that you build the navigation stack from source and add print statements to the costmap node files to see where it might be failing you.

Good luck!

@NNie2019:

I know you asked your question back in 2019, but I recently ran into the same problem and may have an answer for those who might run into it as well.

First, your launch file is correct for loading the costmap_2d node in standalone mode. I'd recommend you make sure that the messages are printed to the terminal for easier debugging by adding the ... output="screen" /> tag in the node call.

Now, since you're not specifying any plugins in your params yaml file, you should see a message printed out to your terminal stating that no plugins were specified and that some pre-Hydro parameters will be loaded. Something similar to this:

[ WARN] [1617798485.487554072, 1613598132.219868821]: costmap: Parameter "plugins" not provided, loading pre-Hydro parameters

[ INFO] [1617798485.493183425, 1613598132.219868821]: costmap: Using plugin "obstacle_layer"

[ INFO] [1617798485.515048394, 1613598132.240097096]:     Subscribed to Topics: 

[ INFO] [1617798485.523665166, 1613598132.250172045]: costmap: Using plugin "inflation_layer"

Since you're not seeing this message, it probably means that the node is waiting for the tf transform between your global frame and your robot base frame - map and zed_camera_center, map and zed_camera_center, respectively according to your parameter yaml file.

Make sure that the \tf topic is being published with this transform and you should see the costmap node start doing things. Namely, the first thing you should see is that plugin message like I mentioned above.

If it turns out that you're having a different issue, I recommend that you build the navigation stack from source and add print statements to the costmap node files to see where it might be failing you.

Good luck!