Revision history [back]

Here are the parameters which I am using working after following skpro19's advice. I actually dropped the depth source for the obstacle layer.

common params

robot_base_frame: dbot/base_link

max_obstacle_height: 20.0
robot_radius: 0.2 

static_layer:
  map_topic: /map
  subscribe_to_updates: true

obstacle_layer:
  observation_sources: laser #depth

  laser:
    topic: /dbot/scan
    sensor_frame: dbot/sensor_laser
    observation_persistence: 0.0
    expected_update_rate: 5.0
    data_type: LaserScan
    clearing: true
    marking: true
    max_obstacle_height: 20.0
    min_obstacle_height: -20.0
    obstacle_range: 4.0
    raytrace_range: 6.0

inflated_layer:
  inflation_radius: 4.0
  cost_scaling_factor: 3.0

global params

global_costmap:
  global_frame: map
  robot_base_frame: dbot/base_link

  update_frequency: 1.0
  publish_frequency: 2.0
  transform_tolerance: 0.5

  static_map: true
  height: 50
  widht: 50

  plugins:
    - {name: static_layer, type: "costmap_2d::StaticLayer"}
    - {name: inflated_layer, type: "costmap_2d::InflationLayer"}

local params

local_costmap:
  global_frame: dbot/odom
  robot_base_frame: dbot/base_link
  update_frequency: 1.0 
  publish_frequency: 2.0
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 6
  height: 6
  resoultion: 0.05


  plugins:
    - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
    - {name: inflated_layer, type: "costmap_2d::InflationLayer"}