No topics published after costmap_2d building from git source
Hi, I was previously succesfully launching the default costmap_2d package that came with ROS hydro, Ubuntu 12.04, using the following launch file and yaml parameters file: <launch> <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen"> <rosparam file="/home/ishani/Research/code/catkin_ws_2/minimal.yaml" command="load" ns="costmap_node/costmap"/> </node> <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="7 7 0.7 0 0 4.7123889804 /map /base_link 100"/> <node name="static_tf2" pkg="tf" type="static_transform_publisher" args="7 7 0.7 0 0 4.7123889804 /map /camera_rgb_optical_frame 100"/> <node name="static_tf1" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /base_link /camera_rgb_optical_frame 100"/>
</launch>
Parameters file: global_frame: /map robot_base_frame: base_link
rolling_window: false width: 20.0 height: 20.0 resolution: 0.05
footprint: [[-0.325, -0.20], [-0.325, 0.20], [0.325, 0.20], [0.34, 0.0], [0.325, -0.20]]
plugins: - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
publish_frequency: 15.0 update_frequency: 15.0
obstacles: track_unkown_space: false observation_sources: optfl_replNaN_point_cloud optfl_replNaN_point_cloud: {data_type: PointCloud2, topic: /projected_cloud_prev, sensor_frame: /base_link, clearing: true, marking: true, max_obstacle_height: 20, min_obstacle_height: 0, obstacle_range: 20, raytrace_range: 25, expected_update_rate: 0}
Now I want to modify the source code, I could not find it in /opt/ros any folder, so I cloned the navigation stack from git into a local folder, built it from source and running it using the same launch file and params file. However, there is no topic being published and the ROS_INFO message " Subscribed to Topics:" is also not being shown on screen(my output type is "screen"). I have tried changing the namespace to "costmap_node/costmap" but no help.
Please help!!!
