Problem with Costmap2DROS in Hydro

asked 2014-02-26 21:08:12 -0500

1658 ●7 ●18 ●35

Hi,

I recently moved my code from Fuerte to Hydro and now have some issues with the costmap_2d, which I use as a local map in my obstacle avoidance module. Occasionally cells that should have higher costs due to the inflation step seem to have zero costs. When moving to Hydro I had to remove the call to Costmap2DROS::getCostmapCopy as it is not present anymore. Is it safe to just use the Costmap2D-Pointer returned by the new method Costmap2DROS::getCostmap()? Or do I have to Pause the Costmap2DROS before using the underlying Costmap2D?

For some reason the issue disappears when I set the Output-Level of the Costmap2D to DEBUG during runtime. So it really might be some timing issue between updating and querying the Costmap2D.

Any help is appreciated!

answered 2014-03-04 21:23:14 -0500

Sebastian Kasperski

1658 ●7 ●18 ●35

updated 2014-03-05 21:29:43 -0500

I found a solution to this. It seems to be necessary to lock the costmap before accessing its data by something like:

boost::unique_lock< boost::shared_mutex > lock(*(myCostmap2DROS->getCostmap()->getLock()));

Edit: Ok, to actually use the costmap, for example in a function. you would do it like this:

void myFunc()
{
    Costmap2D* pCostmap = myCostmap2DROS->getCostmap();
    boost::unique_lock< boost::shared_mutex > lock(*(pCostmap->getLock()));

    // Now you can use the costmap.
    [...]
}

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I think I might be having a problem similar to yours. Do you think you could elaborate on the solution a little, please? For instance, how are you storing the pointer returned by getCostmap(), and do you have to do anything to unlock the 2DROS map afterwards? Still a newbie. Thanks!

BlitherPants ( 2014-03-05 04:46:48 -0500 )edit

You don't need to permanently store the Costmap2D-Pointer, as you can just get from your Costmap2DROS whenever you need it. The costmap will be unlocked again, once the created boost::unique_lock goes out of scope, that is in the example above when myFunc() returns.

Sebastian Kasperski ( 2014-03-05 21:31:54 -0500 )edit

That is very helpful, thanks!

BlitherPants ( 2014-03-13 07:45:59 -0500 )edit

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