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costmap begineer question[update]

asked 2015-01-27 03:10:20 -0600

mree gravatar image

updated 2015-01-28 04:26:42 -0600

Im using the move_base, there are some topics of local_costmap

and Im following a tutorial using grid cell to display the cost on map,

but I find nothing as shown below with the rqt_graph

What should I do with?

image description

image description

Best, Evoe

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Are you wanting to mark a costmap with your own costs or do you just want to use the costmap to track obstacles and inflation layers?

PeterMilani gravatar imagePeterMilani ( 2015-01-27 06:32:05 -0600 )edit

I want to track obstacles and inflation layers

mree gravatar imagemree ( 2015-01-28 02:40:48 -0600 )edit

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answered 2015-01-28 16:27:47 -0600

In rviz you've used a Gridcells Display to try and visualise your costmap. The Grid cells display subscribes to nav_msgs::Gridcells, whereas your costmaps are published as nav_msgs::OccupancyGrid. Change your rviz configuration to use the Map Display type for your costmaps. The Map display type subscribe to nav_msgs::OccupancyGrid

cheers

Peter

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But I found that the type show is GridCells

$ rostopic type /move_base/local_costmap/obstacles nav_msgs/GridCells

I am following this tutorials ( http://wiki.ros.org/navigation/Tutori... )

mree gravatar imagemree ( 2015-01-29 04:32:54 -0600 )edit

I've not used Gridcells, but viewed costmaps using the costmap topic, in your case it should be /move_base/local_costmap/costmap. Do you have this topic?

PeterMilani gravatar imagePeterMilani ( 2015-01-29 04:54:09 -0600 )edit
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answered 2015-01-30 02:09:01 -0600

mree gravatar image

Thank for the answering. I found the main problems.

  1. the package move_base doesnt support 32bit computer, after I use another computer to run, it works.
  2. one of the param (min_obstacles_height) has to be 0.

Now I can see the costmap, Thank you very much.

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Asked: 2015-01-27 03:10:20 -0600

Seen: 312 times

Last updated: Jan 28 '15