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Local costmap width, height, resolution and origin initializing

asked 2015-06-25 09:13:01 -0500

dimkirt gravatar image

I'm using navigation stack on ros-hydro. I can't find where the resizing - initializing of the local costmap takes place. I'm using the obstacle and the inflation layer. The only place where I can see the width, height, resolution and origin parameters loaded is inside the reconfigureCB of the costmap2DROS link text . So I wonder how does the costmap know these parameters, also I can't find where the costmap is constructed. Inside the layered costmap constructor it is initialized with the default constructor(why?) https://github.com/ros-planning/navig... so everything is zero and NULL.The place where the Layered costmap seems to initialize is inside the Costmap2DROS::reconfigureCB() with the resize method. Which doesn't make sense to me since there isn't any dynamic_reconfigure clients. What am I missing?

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answered 2015-06-25 10:19:48 -0500

mgruhler gravatar image

The costmap is loaded as a plugin in the move_base node. It is thus initialized therein.

The parameters are implicitly loaded by instanciating the respective dynamic_reconfigure server as discussed here.

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Asked: 2015-06-25 09:13:01 -0500

Seen: 673 times

Last updated: Jun 25 '15