Updating Slam / Cost map
Probably a bad title but my SLAM map in RVIZ does not update when things change, so imagine I open a door, the actual map does not update but the dots from the SLAM do?
My local costmap has staticmap = false but the global staticmap is true?
local_costmap:
global_frame: /map
robot_base_frame: /scanmatcher_frame
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0 # The width of the map in meters. default 10
height: 4.0 # The height of the map in meters. default 10
resolution: 0.05 # The resolution of the map in meters/cell. default 0.05
transform_tolerance: 0.5
global_costmap:
global_frame: /map
robot_base_frame: /scanmatcher_frame
update_frequency: 1.0
publish_frequency: 0.5
static_map: true #
transform_tolerance: 0.5
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [ [0.08, 0.08], [-0.08, 0.08], [-0.08, -0.08], [0.08, -0.08] ]
inflation_radius: 0.3
map_type: costmap
observation_sources: scan bump
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}
TrajectoryPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.5
min_vel_x: 0.1
max_vel_theta: 1.5
min_vel_theta: -1.5
min_in_place_vel_theta: 1.0
acc_lim_x: 0.6
acc_lim_theta: 1.0
# Goal Tolerance Parameters
yaw_goal_tolerance: 3.14
xy_goal_tolerance: 0.15
# Forward Simulation Parameters
sim_time: 3.0
vx_samples: 6
vtheta_samples: 20
# Trajectory Scoring Parameters
meter_scoring: true
pdist_scale: 0.6
gdist_scale: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: true
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Differential-drive robot configuration
holonomic_robot: false
Asked by burf2000 on 2017-02-23 18:00:49 UTC
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