Robot can not update local map

asked 2015-11-25 09:48:55 -0600

invizi gravatar image

I'm having a problem with navigation stack. My robot can't see the obstacle and update to local map and global map. i don't know but maybe have a delay in there because after a long time (aproximate 1 or 2 minutes) the obstacle be in my map. I've try increase update _frequency: 8Hz (in local_costmap) but i have a response that " map be desired update with 8Hz but real loop time is 0.3025s .... I'm a newbie in ROS so can't persuade this problem. Anyone can help me . Plzzzz :(( sorry for my bad english because I'm a Asian :(( this is my param files

    local_costmap:
  global_frame: /odom
  robot_base_frame: /base_link
  update_frequency: 3.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  transform_tolerance: 0.5
  #plugins:
  #  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

# - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true

  transform_tolerance: 0.5
#  plugins:
 #   - {name: static_layer, type: "costmap_2d::StaticLayer"}
  #  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
   # - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

costmap common params:

#footprint: [[0.15, 0.14], [0.15, -0.14], [-0.23, -0.14], [-0.23, 0.14]]
robot_radius: 0.23

obstacle_range: 2.5
raytrace_range: 3.0

observation_sources: scan
scan:
  data_type: LaserScan
  topic: scan
  marking: true
  clearing: true
  min_obstacle_height: 0.1
  max_obstacle_height: 0.6

map_type: costmap
#obstacle_layer:
 #enabled: true
 #obstacle_range: 2.5
  #raytrace_range: 3.0
   #origin_z: 0.0
  #z_resolution: 0.2
  #z_voxels: 2
  #unknown_threshold: 15
  #mark_threshold: 0
  #combination_method: 1
 #track_unknown_space: true #true needed for disabling global path planning through unknown space

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
#inflation_layer:
#enabled: true
#cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.3 # max. distance from an obstacle at which costs are incurred for planning paths.

#static_layer:
#  enabled: true
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Comments

Do you receive any error when you run your move_base? try also to monitor your laser_scan data in rviz to make sure your /scan topic is being published fine... Last but not the least, being Asians are not incapable of speaking good English...

mohsen1989m gravatar image mohsen1989m  ( 2015-12-09 05:27:58 -0600 )edit