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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"}