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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?) 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: 1,207 times

Last updated: Jun 25 '15