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Hi, I would like to use a static layer (in /map i.e. global frame) in the local costmap. So when the robot moves, I want the lethal obstacles in this static layer that are also in the local costmap, to be inflated. How do I do this?
I know static layers are usually added in the global costmap, but for a special case I want the local planner to access this information.
There are currently issues with the static_layer and rolling costmaps. A (unmerged) pull request that may fix this can be found here: https://github.com/ros-planning/navig... .
Doesnt seem to work, or maybe its trying to solve something else. For now, I havegot this to work in two ways:
1) Create a custom layer and mark all intersection points between a static layer and master layer
2) Publish the static map as a sensor(pointcloud) in /map frame for use by ObstacleLayer
You'll have to manually mix in the desired plugins to achieve what you need.
Place the following In your local_costmap_params.yaml
local_costmap:
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 5.0
update_frequency: 5.0
publish_frequency: 2.0
obstacles:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
The costmap_2d::StaticLayer plugin allows you to specify a static layer in your local_costmap
The costmap_2d::ObstacleLayer and costmap_2d::InflationLayer does what the original local costmap does, marking and clearing and inflating obstacles, note the similarity for the parameters.
More details can be found here:
Asked: 2015-01-07 21:11:42 -0500
Seen: 2,463 times
Last updated: Apr 23 '20
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