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define local costmap size

asked 2014-07-12 12:14:28 -0600

dreamcase gravatar image

hi, all,

How do I limit the size of my local cost map?

I am using move_base as my navigational stack. each time the stack starts, the entire map was loaded as local cost map.

how do I confine it to the viewable range?

regards Ray

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answered 2014-07-12 13:39:19 -0600

donmrsir gravatar image

You have to modify whats in your local_costmap_params.yaml. First you have to make sure that you are not using a static map, "static_map:false", and then you just add the size of the costmap with "width: X" "height: Y", furthermore you should make sure that you use a rolling window map with the local costmap "rolling_window: true". For further imformation you can check this wiki http://wiki.ros.org/costmap_2d .

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yep. brilliant!

dreamcase gravatar imagedreamcase ( 2014-07-16 10:39:28 -0600 )edit

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Asked: 2014-07-12 12:14:28 -0600

Seen: 929 times

Last updated: Jul 12 '14