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Hey guys. Just a few more questions about the static layer of the navigation stack.

I had the Nav stack going with two laser scanners. One of them was running gmapping and it was this frame that I used for the navigation stack (both global and local costmaps (even though normally it's odom for local)).

In the local and global costmap params I set the static map parameter to false... So does this mean the navigation stack is creating its own static map from both of the laser scanners? If this is so, can I eventually load this static layer at the start of a new run? What's to stop the longer range laser scanner from overwriting the white lines that are only detected when the camera gets relatively close to them?...

When considering this, it seems like I have to set the static map parameter to true, then get the map generated by gmapping, then copy it and add on the detected lines and this will be that map that the navigation stack will subscribe to to generate the static map layer.

Further, since I'm mainly dealing with obstacles that are static, and I only really need a static map layer, can I disable the obstacle layers?

Also, maybe it's possible to create 2*static map layers, one for the laser scanner data and one for the camera? (this might be what the Nav stack does anyway, when you specify 2 sensors)

If you can have two static map layers, one for each sensor and you load a map at the start of a run, will the navigation stack update, the static map if something has slightly changed? Say if a barrel has moved a meter from where it originally was.

Any comments would be greatly appreciated.

I'm just trying to figure out the best way of going about this problem using ROS's navigation stack.