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(Actually only wanted to comment, but that always disappears..)

Did you check your configuration with rosparam? It is not clear for me from your paste, because in local_costmap_params.yaml the sonar_layer is in the obstacle_layer namespace, in global_costmap_params.yaml it is not

(Actually only wanted to comment, but that always disappears..)

Did you check your configuration with rosparam? It is not clear for me from your paste, because in local_costmap_params.yaml the sonar_layer is in the obstacle_layer namespace, in global_costmap_params.yaml it is not

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move the sonar_layer before the inflation layer.