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I think I solved the problem,

I caught an error message in the sensor message publisher node's console:

This explains why I couldn't see the connection between the nodes through rxgraph.

In the costmap docs it is said that currently it only supports sensor_msgs/LaserScan and sensor_msgs/PointCloud messages. That's why I had set pointcloud/data_type parameter as PointCloud, but used it as PointCloud2 in the publisher node. Now I changed the parameter value to PointCloud2, and it works.

I checked the costmap_2d_ros.cpp and it seems it also supports PointCloud2, so I guess the costmap docs is a bit outdated.

Cheers

I think I solved the problem,

I caught an error message in the sensor message publisher node's console:console indicating that the md5sums do not match. Then the connection is dropped.

This explains why I couldn't see the connection between the nodes through rxgraph.

In the costmap docs it is said that currently it only supports sensor_msgs/LaserScan and sensor_msgs/PointCloud messages. That's why I had set pointcloud/data_type parameter as PointCloud, but used it as PointCloud2 in the publisher node. Now I changed the parameter value to PointCloud2, and it works.

I checked the costmap_2d_ros.cpp and it seems it also supports PointCloud2, so I guess the costmap docs is a bit outdated.

Cheers