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Since the Hokuyo's positioning and orientation do not match those of the Kinect, you will need to modify those parameters accordingly. If tweaking values for "max_obstacle_height", "min_obstacle_height" and "z_origin" don't work, increase the number of voxels the costmap uses.

Your default z_voxels value of 2 is like saying your map should only be 20 cm high (assuming z_resolution = 0.1), so if your Hokuyo origin is higher than that, it will be reported as out of bounds and the ray trace will not complete. Simply increasing z_voxels will fix the issue.

You could measure the height of your Hokuyo origin and set z_voxels accordingly, or just set it to 10 which tells the costmap to accept sensor origins within a 1 meter height.

Since the Hokuyo's positioning and orientation do not match those of the Kinect, you will need to modify those parameters accordingly. If tweaking values for "max_obstacle_height", "min_obstacle_height" and "z_origin" don't work, increase the number of voxels the costmap uses.

Your default z_voxels value of 2 is like saying your map should only be 20 40 cm high (assuming for z_resolution = 0.1), 0.2, so if your Hokuyo origin is higher than that, it will be reported as out of bounds and the ray trace will not complete. Simply increasing z_voxels will fix the issue.

You could measure the height of your Hokuyo origin and set z_voxels accordingly, or just set it to 10 which tells the costmap to accept sensor origins within a 1 meter height.

Since the Hokuyo's positioning and orientation do not match those of the Kinect, you will need to modify those parameters accordingly. If tweaking values for "max_obstacle_height", "min_obstacle_height" and "z_origin" don't work, increase the number of voxels the costmap uses.

Your default z_voxels value of 2 is like saying your map should only be 40 cm high for (for z_resolution = 0.2, 0.2), so if your Hokuyo origin is higher than that, it will be reported as out of bounds and the ray trace will not complete. Simply increasing z_voxels will fix the issue.

You could measure the height of your Hokuyo origin and set z_voxels accordingly, or just set it to 10 which tells the costmap to accept sensor origins within a 1 meter height.

Since the Hokuyo's positioning and orientation do not match those of the Kinect, you will need to modify those parameters accordingly. If tweaking values for "max_obstacle_height", "min_obstacle_height" and "z_origin" don't work, increase the number of voxels the costmap uses.

Your default z_voxels value of 2 is like saying your map should only be 40 cm high (for z_resolution = 0.2), so if your Hokuyo origin is higher than that, it will be reported as out of bounds and the ray trace will not complete. Simply increasing z_voxels will fix the issue.

You could measure the height of your Hokuyo origin and set z_voxels accordingly, or just set it to 10 5 which tells the costmap to accept sensor origins within a 1 meter height.