Robot can not update local map
I'm having a problem with navigation stack. My robot can't see the obstacle and update to local map and global map. i don't know but maybe have a delay in there because after a long time (aproximate 1 or 2 minutes) the obstacle be in my map. I've try increase update _frequency: 8Hz (in local_costmap) but i have a response that " map be desired update with 8Hz but real loop time is 0.3025s .... I'm a newbie in ROS so can't persuade this problem. Anyone can help me . Plzzzz :(( sorry for my bad english because I'm a Asian :(( this is my param files
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.5
#plugins:
# - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
# - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
# plugins:
# - {name: static_layer, type: "costmap_2d::StaticLayer"}
# - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
# - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
costmap common params:
#footprint: [[0.15, 0.14], [0.15, -0.14], [-0.23, -0.14], [-0.23, 0.14]]
robot_radius: 0.23
obstacle_range: 2.5
raytrace_range: 3.0
observation_sources: scan
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
min_obstacle_height: 0.1
max_obstacle_height: 0.6
map_type: costmap
#obstacle_layer:
#enabled: true
#obstacle_range: 2.5
#raytrace_range: 3.0
#origin_z: 0.0
#z_resolution: 0.2
#z_voxels: 2
#unknown_threshold: 15
#mark_threshold: 0
#combination_method: 1
#track_unknown_space: true #true needed for disabling global path planning through unknown space
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
#inflation_layer:
#enabled: true
#cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.3 # max. distance from an obstacle at which costs are incurred for planning paths.
#static_layer:
# enabled: true
Do you receive any error when you run your move_base? try also to monitor your laser_scan data in rviz to make sure your /scan topic is being published fine... Last but not the least, being Asians are not incapable of speaking good English...