Configuring the layered costmap[SOLVED]
Hello,
I am a newbie to ROS. I wish to use the existing implementation of layered costmap for one of my projects. I follwed the tutorials mentioned here:
Configuring Layered Costmaps http://wiki.ros.org/costmap_2d/Tutori...
Creating a New Layer http://wiki.ros.org/costmap_2d/Tutori...
When I try to configure the layers, it happens that always all layers are existing. I am not able to figure out what is going wrong as I do not get any warning or error messages. I followed the same procedure like mentioned in the tutorial, that is, creating the minimal.yaml file and adding plugin specifications one after the other. And then loading the parameters through rosparam in a launch file.
Please advise what could be done in this situation. Thank you in advance.
What do you mean all the layers are existing?
I see static_layer, obstacle_layer, footprint_layers. What I wish to do is add my own layers.
I followed the tutorials on costmap layaer creation and if I add the plugins in my local_costmap_params.yaml file I can see the new layers added. But now i want to remove all the layers(static_layer, obstacle_layer, footprint_layers) and then add them one after the other.
Also, I had one more query regarding the inflation radius. If the change the value of this parameter, I do not see a change in rviz.
In the previous version of costmap if I made a change in inflation radius value the red area surrounding the object used to change. Now its not happening. In fact I see layers around each object with three colors and not sure what does these colors signify.