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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
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"