Ros navigation without static map
I'm trying to run navigation stack on a differential robot without a static map. I just want the robot to move 10 meters forward without colliding into any obstacles. I have followed the given tutorial, but I keep getting the below warnings:
- Request for map failed; trying again...
- The origin for the sensor at (0.19, 0.00) is out of map bounds. So, the costmap cannot raytrace for it.
- The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
Given below is my configuration files:
common_costmap.yaml
obstaclerange: 1.0
raytracerange: 3.0
robotradius: 0.376
inflationradius: 0.45
maxobstacleheight: 0.9
observationsources: pointcloudsensor
pointcloudsensor: {sensorframe: cameralink, datatype: PointCloud, topic: /pointcloudoutput, marking: true, clearing: true, maxobstacleheight: 0.85}
local_costmap.yaml
localcostmap:
globalframe: /odom
robotbaseframe: /baselink
updatefrequency: 5.0
publishfrequency: 2.0
staticmap: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
global_costmap.yaml
globalcostmap:
globalframe: /odom
robotbaseframe: /baselink
updatefrequency: 5.0
staticmap: false
rollingwindow: true
Asked by rahulr on 2014-02-27 12:34:21 UTC
Comments
Are you using the navigation stack? By default the navigation stack considers a /map frame and tree expands from there. map_server is mapped to navigation stack i believe. Why don't you try to have a static map and also have your cost maps decide the dynamic objects.
Asked by karthik on 2014-02-27 14:45:13 UTC
The robot must operate in an unknown environment, so I cannot have a static map and I'm not running any map server. I have explicitly changed the global frame to /odom.
Asked by rahulr on 2014-02-27 15:36:31 UTC
SLAM i smapping an unknown environment and you can actually use map_server and build your map.
Asked by karthik on 2014-03-29 14:49:58 UTC
@rahulr Hello, may I know how you solve you issue at the end?
Asked by BCJ on 2020-08-03 05:03:45 UTC