Ros navigation without static map
I'm trying to run navigation stack on a differential robot without a static map. I just want the robot to move 10 meters forward without colliding into any obstacles. I have followed the given tutorial, but I keep getting the below warnings:
- Request for map failed; trying again...
- The origin for the sensor at (0.19, 0.00) is out of map bounds. So, the costmap cannot raytrace for it.
- The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
Given below is my configuration files:
common_costmap.yaml
obstacle_range: 1.0
raytrace_range: 3.0
robot_radius: 0.376
inflation_radius: 0.45
max_obstacle_height: 0.9
observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud, topic: /pointcloudoutput, marking: true, clearing: true, max_obstacle_height: 0.85}
local_costmap.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
global_costmap.yaml
global_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 5.0
static_map: false
rolling_window: true
Are you using the navigation stack? By default the navigation stack considers a /map frame and tree expands from there. map_server is mapped to navigation stack i believe. Why don't you try to have a static map and also have your cost maps decide the dynamic objects.
The robot must operate in an unknown environment, so I cannot have a static map and I'm not running any map server. I have explicitly changed the global frame to /odom.
SLAM i smapping an unknown environment and you can actually use map_server and build your map.
@rahulr Hello, may I know how you solve you issue at the end?