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Eventually I decided to set the obstacle_range in costmap_commons_params.yml to 0.005 so it would never try to avoid an obstacle (in addition to setting laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: sharp, marking: false, clearing: false}. Hope it will do the trick.

Eventually I decided to set the obstacle_range in costmap_commons_params.yml to 0.005 so it would never try to avoid an obstacle (in addition to setting laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: sharp, marking: false, clearing: false}. Hope it will do the trick.

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find sargas_2dnav)/map/plan_ece.yaml">
  </node>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find sargas_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

Eventually I decided to set the obstacle_range in costmap_commons_params.yml to 0.005 so it would never try to avoid an obstacle (in addition to setting laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: sharp, marking: false, clearing: false}. Hope it will do the trick.

EDIT: I am encountering bad_alloc error randomly in the inflation_layer of the local base planner so I definitely want to deactivate it. When I start move_base I do see "using pre-hydro parameter style" so I think I'm doing something wrong. Here is my launch file for the move_base:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find sargas_2dnav)/map/plan_ece.yaml">
  </node>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find sargas_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

My log file with the bad_alloc is available here https://www.dropbox.com/s/fky9zd011stgzzj/rosout.log?dl=0

Thank you in advance for your answers.

Eventually I decided to set the obstacle_range in costmap_commons_params.yml to 0.005 so it would never try to avoid an obstacle (in addition to setting laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: sharp, marking: false, clearing: false}. Hope it will do the trick.

EDIT: When I start move_base I do see "using pre-hydro parameter style" so I think I'm doing something wrong. Here is my launch file for the move_base:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find sargas_2dnav)/map/plan_ece.yaml">
  </node>

  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find sargas_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find sargas_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find sargas_2dnav)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

My log file with the bad_alloc is available here https://www.dropbox.com/s/fky9zd011stgzzj/rosout.log?dl=0

Thank you in advance for your answers.