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Your settings are loaded from a default configuration which is indicated by the message "Loading from pre-hydro parameter style". That means that move_base cannot find any plugins settings for your local or global costmap.

Plugins are loaded from the YAML files. Here's for example my YAML file for my local costmap configuration:

local_costmap:
  global_frame: '/map'
  robot_base_frame: 'base_link'
  update_frequency: 1
  publish_frequency: 1
  static_map: false
  rolling_window: false
  width: 3
  height: 3
  resolution: 0.01
  plugins:
   -
     name: footprint
     type: "costmap_2d::FootprintLayer"
   - 
     name: obstacles
     type: "costmap_2d::ObstacleLayer"
   - 
     name: inflater
     type: "costmap_2d::InflationLayer"

You have to place the plugins parameter (a yaml list) inside the corresponding namespace (local_costmap in this case). That's the important part.

Your settings are loaded from a default configuration which is indicated by the message "Loading from pre-hydro parameter style". That means that move_base cannot find any plugins settings for your local or global costmap.

Plugins are loaded from the YAML files. Here's for example my YAML file for my local costmap configuration:

local_costmap:
  global_frame: '/map'
  robot_base_frame: 'base_link'
  update_frequency: 1
  publish_frequency: 1
  static_map: false
  rolling_window: false
  width: 3
  height: 3
  resolution: 0.01
  plugins:
   -
     name: footprint
     type: "costmap_2d::FootprintLayer"
   - 
     name: obstacles
     type: "costmap_2d::ObstacleLayer"
   - 
     name: inflater
     type: "costmap_2d::InflationLayer"

You have to place the plugins parameter (a yaml list) inside the corresponding namespace (local_costmap in this case). That's the important part.

In your particular case a new entry to the plugins list might look like that:

   - 
     name: yourlayer
     type: "your_layer_namespace::YourLayerClassName"