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1 | initial version |
Managed to solve this. The solution was similar (if not the same) as what David Lu proposed. Bellow I show the final cost map files
Common costmap
global_frame: map
robot_base_frame: base_link
footprint: [[0.42, 0.26], [-0.42, 0.26], [-0.42, -0.26], [0.42, -0.26]]
footprint_padding: 0.1
global costmap
global_costmap:
update_frequency: 5.0
static_map: true
rolling_window: false
width: 100.0
height: 100.0
resolution: 0.05
static_layer:
map_topic: /map
subscribe_to_updates: true
lethal_cost_threshold: 60
inflater_layer:
inflation_radius: 0.5
cost_scaling_factor: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
local costmap:
local_costmap:
update_frequency: 10.0
publish_frequency: 10.0
static_map: false
rolling_window: true
width: 5.0
height: 5.0
resolution: 0.05
inflater_layer:
inflation_radius: 0.25
cost_scaling_factor: 0.5
obstacle_layer:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: horizontal_laser_link, data_type: LaserScan, topic: scan, clearing: true, marking: true}
max_obstacle_height: 3
obstacle_range: 10
raytrace_range: 11
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}