Ros navigation without static map

asked 2014-02-27 11:34:21 -0500

rahulr gravatar image

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:


  1. Request for map failed; trying again...
  2. The origin for the sensor at (0.19, 0.00) is out of map bounds. So, the costmap cannot raytrace for it.
  3. 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

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Comments

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.

karthik gravatar image karthik  ( 2014-02-27 13:45:13 -0500 )edit

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.

rahulr gravatar image rahulr  ( 2014-02-27 14:36:31 -0500 )edit

SLAM i smapping an unknown environment and you can actually use map_server and build your map.

karthik gravatar image karthik  ( 2014-03-29 14:49:58 -0500 )edit

@rahulr Hello, may I know how you solve you issue at the end?

BCJ gravatar image BCJ  ( 2020-08-03 05:03:45 -0500 )edit