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I think you have failed to set up the cost map. if you change the yaml file as follows, the map should appear.

Point

  • Indicate that it is a willowgarage_costmap setting.
  • Indicate that you want to use the map topic in plugins and static_layer

ros_experiment_params.yaml

willowgarage_costmap:
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 1.0

    static_map: true

    map_type: costmap

    transform_tolerance: 0.3
    obstacle_range: 2.5
    max_obstacle_height: 2.0
    raytrace_range: 3.0
    footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]

    footprint_padding: 0.01
    inflation_radius: 0.55
    cost_scaling_factor: 10.0
    lethal_cost_threshold: 100

    plugins:
        - {name: static_layer, type: "costmap_2d::StaticLayer"}  
    static_layer:
        map_topic: "map"