set map parameters warning occurs while setting up the automated navigation stack.
hello, i am setting up Navigation stack as explained in the Navigation Stack Setup Tutorial, My my configuration files are as follows:-
1. base_local_planner_params.yaml
TrajectoryPlannerROS:
# for details see: http://www.ros.org/wiki/base_local_planner
max_vel_x: 0.2
min_vel_x: 0.05
max_rotational_vel: 0.5
min_in_place_rotational_vel: 0.1
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 0
holonomic_robot: true
# goal tolerance parameters
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: true
2. costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.305, 0.278], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.305, -0.278]]
#footprint: [[0.075, 0.178], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.075, -0.178]]
#robot_radius: ir_of_robot
inflation_radius: 0.6
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: openni_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
3. global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 2.0
static_map: true
4. local_costmap_params.yaml
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: 6.0
height: 6.0
# origin_x: -0.115
origin_x: 7.5
origin_y: 7.5
resolution: 0.05
5. move_base_param.yaml
controller_frequency: 10
controller_patience: 15.0
oscillation_timeout: 10.0
oscillation_distance: 0.5
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 1.0
acc_lim_x: 0.5
acc_lim_y: 0.5
path_distance_bias: 50.0
goal_distance_bias: 0.8
holonomic_robot: false
6. move_base.launch
<launch>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.pgm 0.05"/>
<!--- You can see original move_base.launch -->
<!--- Run AMCL -->
<include file="$(find usarsim_inf)/launch/usarsim.launch"/>
<include file="$(find amcl)/examples/amcl_omni.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/launch/move_base_params.yaml" command="load" />
</node>
<node pkg="gmapping" type="slam_gmapping" respawn="false" name="slam_gmapping" args="scan:=lms200" >
</node>
<node pkg="rviz" type="rviz" respawn="false" name="rviz">
</node>
</launch>
now where i launch the move_base.launch file everything goes fine but i am getting a warning as:-
You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
in my previous question i asked about the reason of this warning but still i am confused and could not remove this warning, please help me out so that i can solve it.