Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I have solve my problem. As always in my case it was a stupid mistake. The things is :

the funtion getCost(mx,my) don't take meters but cells's coordinate (only positive coordinate).
the most importante in my case, the zero of the world is not always the center of the map (in my case my map was a little bit smaller).

So global_costmap contain obstacles from the map.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.