Should global costmap have an obstacle layer when using a SLAM node?

asked 2015-08-18 16:55:02 -0500

Sebastian
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I am trying to build a navigation system, but am a bit confused about the configuration of my global costmap for move_base.

I am using gmapping to create a map of the environment, which is published to /map.

I want global_costmap to use this map while planning, so I set static_map to true.

I find that global_costmap will load an obstacle layer and inflation layer by default.

Should I keep the obstacle layer? Wouldn't it just be redundant with the gmapping?

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answered 2015-08-19 10:22:42 -0500

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

I agree that it would most likely be redundant in the global_costmap, so you should not keep it.

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Thank you very much.

Sebastian ( 2015-08-19 12:43:30 -0500 )edit

Wouldn't it make sense to keep the obstacle layer, given it uses a VoxelLayer (2.5d obstacle info) while the SLAM node (gmapping) might not?

moooeeeep ( 2017-03-23 04:33:47 -0500 )edit

If the obstacle layer is a voxel layer, then possibly it might not be redundant.

David Lu ( 2017-03-26 10:40:26 -0500 )edit

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answered 2015-08-19 11:20:27 -0500

redskydeng
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Should the static_map be set to true when using gmapping to create a map?If you do not use map server,it should be set to false.

Reference: The static_map attribute is used for the global costmap to know if a map or the map server is used to initialize the costmap. If you aren't using a static map, set this parameter to false .

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static_map is a misnomer. It really means "external map."

It is only static because the map is not being modified locally, but externally it is being changed.

Search around and you will find a source for this. It confused me for a while as well.

Sebastian ( 2015-08-19 12:43:05 -0500 )edit

Confused me as well. Sebastion is correct, and it seems the only way that people will know this is by searching ROS Answers.

kwiesz91 ( 2015-09-14 17:54:23 -0500 )edit

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Should global costmap have an obstacle layer when using a SLAM node?

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