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The origin for the sensor is out of map bounds

asked 2015-07-15 05:43:20 -0600

flaminga gravatar image

updated 2015-07-15 05:47:28 -0600

When i launch move_base for navigation stack it gives:

[WARN] [1436954622.771961072]: The origin for the sensor at (0.17, -0.19) is out of map bounds. So, the costmap cannot raytrace for it.

The tf_tree is normal:

At time 1436956287.222 - Translation: [0.000, 0.000, 0.035] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000]

At time 1436956288.221 - Translation: [0.000, 0.000, 0.035] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000]

The size of costmap is 100x100. Footprint is [ [-0.113, 0.123],[0.113, 0.123],[0.113, -0.123], [-0.113, -0.123] ] The param "rolling_window" is true. In RVIZ costmap is in bounds (grey square). It also seems me a strange

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answered 2015-07-15 07:24:43 -0600

David Lu gravatar image

Double check the origin parameters for the costmap. For a local costmap that's 10m square, you'd often set them to -5.

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I didn't change them, so they are zeros (x and y origin). Ok, i will assign a -5 its.

flaminga gravatar imageflaminga ( 2015-07-15 07:45:57 -0600 )edit

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Asked: 2015-07-15 05:43:20 -0600

Seen: 2,307 times

Last updated: Jul 15 '15