costmap2d map inflation from octomap projected_map

asked 2014-01-10 08:07:24 -0600

vhwanger gravatar image

updated 2014-01-14 20:41:42 -0600

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

#START VOXEL STUFF
map_type: costmap
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
#END VOXEL STUFF

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?

edit retag flag offensive close merge delete

Comments

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

David Lu gravatar image David Lu  ( 2014-05-14 09:31:41 -0600 )edit