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The problem was that you were mixing pre-Hydro and post-Hydro configuration. Pre-Hydro the configuration was flat, so you shouldn't use the "obstacle_layer:" namespace. Post-Hydro everything moved to plug-ins, and the namespaces are required. This pre-Hydro configuration should also solve your original problem:

obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[-0.106, -0.106], [-0.106, 0.106], [0.106, 0.106], [0.150, 0], [0.106, -0.106]]
robot_radius: 0.150
inflation_radius: 0.3
transform_tolerance: 0.7

observation_sources: laser_scan_sensor bumper_sensor

laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
bumper_sensor: {sensor_frame: base_link, data_type: PointCloud2, topic: /pointcloud, marking: true, clearing: false}