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 | 1 | initial version |
Configuring layered costmaps have three steps: Step 1: Transforms Step 2: Basic Parameters Step 3: Plugins Specification
The first step is for a transformation from the frame of the costmap to the frame of the robot. OK! In the second step I must create a yaml file (which I don't know what it is, any way...) and set some parameters which I don't know what are they. How can I find out about those parameters? In the third step it says "To actually specify the layers, we store dictionaries in the array of plugins". What is dictionary? what is plugins? where should I set those plugins? and it says: "This of course assumes you have a static map being published". Which static map? where can I subscribe /scan?
Too much information. I feel lost ... . I studied ROS Tutorials step 1-8, but I didn't find any relevant information and I am not optimistic to find those kind of information in the next tutorials... . Please guide me how to solve this?
| | 2 | No.2 Revision |
Configuring layered costmaps have three steps:
steps:
The first step is for a transformation from the frame of the costmap to the frame of the robot. OK!
OK!
In the second step I must create a yaml file (which I don't know what it is, any way...) and set some parameters which I don't know what are they. How can I find out about those parameters?
parameters?
In the third step it says "To actually specify the layers, we store dictionaries in the array of plugins". What is dictionary? what is plugins? where should I set those plugins? and it says: "This of course assumes you have a static map being published". Which static map? where can I subscribe /scan?
Too much information. I feel lost ... . I studied ROS Tutorials step 1-8, but I didn't find any relevant information and I am not optimistic to find those kind of information in the next tutorials... . Please guide me how to solve this?
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