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costmap plugin question

asked 2015-03-12 17:07:37 -0500

rnunziata gravatar image

updated 2015-03-13 11:27:56 -0500

Does placing plugin definitions under the namespace restrict them to those functions. Even if the parameters are specified in another file but under the same namespaces. If I use the definitions below it does not complain but ignores the parameters under the plugin namespaces, if I remove the plugin definitions and comment out the plugin name spaces then it sees the parameters.

global_costmap:
       plugins:
        - {name: footprint_layer, type: "costmap_2d::FootprintLayer"}
        - {name: static_map_layer, type: "costmap_2d::StaticLayer"}
        - {name: obstacle_layer,  type: "costmap_2d::VoxelLayer"}
        - {name: inflation_layer,   type: "costmap_2d::InflationLayer"}   
      footprint_layer:
          footprint:  []
      obstacle_layer:
               :
               :

local_costmap:
       plugins:
        - {name: footprint_layer, type: "costmap_2d::FootprintLayer"}
        - {name: obstacle_layer,  type: "costmap_2d::VoxelLayer"}
        - {name: inflation_layer,   type: "costmap_2d::InflationLayer"}
      footprint_layer:
          footprint:  []
               :
               :
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answered 2015-03-12 17:55:02 -0500

paulbovbel gravatar image

Yes, they are restricted. One solution is to use tags to load a common plugin definition yaml file into both namespaces (along with other common parameters) See: https://github.com/husky/husky_naviga...

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If I use the above code it does not complain but ignores the parameters under the plugin namespaces, if I remove the plugin definitions and comment out the plugin name spaces then it sees the parameters.

rnunziata gravatar image rnunziata  ( 2015-03-13 11:26:51 -0500 )edit

I'm not 100% sure on what your issue is, but check your whitespace above. plugin and *layer_ are not aligned. Yaml is whitespace-sensitive.

paulbovbel gravatar image paulbovbel  ( 2015-03-13 14:02:10 -0500 )edit

yes...the above was cut and past..unaligned will generate error in yaml. Any way it seems to work if I just do not define a plugins or layer names spaces. So I am going to close this.

rnunziata gravatar image rnunziata  ( 2015-03-13 14:40:45 -0500 )edit

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Asked: 2015-03-12 17:07:37 -0500

Seen: 251 times

Last updated: Mar 13 '15