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after changing the yaw in the map.yaml, costmap does not take that yaw.

asked 2020-11-06 05:35:52 -0500

darshb34 gravatar image

updated 2020-11-06 05:38:23 -0500

I use the below yaml for getting the map using the map_server package. I changed the yaw in the origin tag of the original yaml to -0.102.

map_zone.yaml
image: map_zone.pgm
resolution: 0.050000 
origin: [-17.000000, -17.000000, 0.0]   #### OLD
origin: [-17.000000, -17.000000, -0.102000] 
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

This change resulted into weird costmap. Please help. My setup is a typical ros navstack using move_base. this also affects amcl slam as localization is way off.

I have already played around with /initial_pose. the setup works fine if i do not change the yaw in the map.yaml file.

with original yaw=0.0 with original zero yaw

with yaw = -0.0102 With yaw(/upfiles/16046623663103974.png)

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answered 2020-11-06 07:18:33 -0500

miura gravatar image

If you want to change the origin, you need to change map_zone.pgm as well.

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@miura can you point me how to change map_zone.pgm? Are any opensource tools available?

darshb34 gravatar image darshb34  ( 2020-11-06 17:45:06 -0500 )edit
miura gravatar image miura  ( 2020-11-06 19:21:31 -0500 )edit

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Asked: 2020-11-06 05:35:52 -0500

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Last updated: Nov 06 '20