Question

I copied over the Husky navigation configuration hoping to improve my movebase planner. However the local costmap is empty, all zeros, and the robot does not navigate well. Launching movebase shows the obstacle layer is not subscribing to the correct scan topic. I can't attach my configuration files but they follow the husky configuration linked above.

[ INFO] [1646180693.575161339]: Using plugin "static"
[ INFO] [1646180693.580630725]: Requesting the map...
[ INFO] [1646180693.784523531]: Resizing costmap to 1352 X 1386 at 0.050000 m/pix
[ INFO] [1646180693.883642011]: Received a 1352 X 1386 map at 0.050000 m/pix
[ INFO] [1646180693.883671651]: Subscribing to updates
[ INFO] [1646180693.888851203]: Using plugin "inflation"
[ INFO] [1646180693.928447104]: Using plugin "obstacles_laser"
[ INFO] [1646180693.929552616]:     Subscribed to Topics:
[ INFO] [1646180693.936405521]: Using plugin "inflation"
[ INFO] [1646180693.964923567]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1646180693.970050453]: Sim period is set to 0.05
[ WARN] [1646180693.973132403]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1646180694.216265904]: Recovery behavior will clear layer obstacles
[ INFO] [1646180694.219692614]: Recovery behavior will clear layer obstacles

Asked by bscout on 2022-03-01 19:36:37 UTC

Answer 1

The answer to this question, and others like this, is to make sure namespaces are declared and referenced correctly. My problem was the defined plugin obstacles_laser in the file costmap_local.yaml did not match the namespace obstacle_layers in the separate file costmap_common.yaml. Since there are no error codes for this, careful parsing of all the configuration .yaml files is required.

Asked by bscout on 2022-03-04 16:38:20 UTC

Local costmap is empty

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