costmap2d map inflation from octomap projected_map

asked 2014-01-10 08:07:24 -0500

vhwanger gravatar image

updated 2014-01-14 20:41:42 -0500

tfoote gravatar image

I'm trying to hook up costmap2d with octomap's projected_map topic, but I can't seem to figure out how to get things working. All I really need is for costmap2d to inflate and crop a static map and return it as an OccupancyGrid. I've got the following config:

global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 1.0
map_topic: /projected_map

#set if you want the voxel map published
publish_voxel_map: true

#set to true if you want to initialize the costmap from a static map
static_map: true

map_type: costmap
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0

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]]
#robot_radius: 0.46
footprint_padding: 0.01
inflation_radius: 0.55
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

When I start up both nodes (octomap server and costmap2d), I don't get an active gridcell topic in rviz. Also, I'm not running this with Gazebo, if that matters. Any ideas?

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Does the costmap node report waiting or receiving the static map?

David Lu gravatar image David Lu  ( 2014-05-14 09:31:41 -0500 )edit