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Local and global costmap issues

asked 2016-04-27 09:13:12 -0500

TomSon gravatar image

Hi, I got an issue with the configuration of the local and global costmaps. I end up with this situation:

image description

For RVIZ, there is no trouble with my costmaps.

Here are my config files:

local_costmap:

local_costmap:
  update_frequency: 3.0
  publish_frequency: 3.0
  static_map: false
  rolling_window: true
  width: 15
  height: 15
  resolution: 0.05
  origin_x: 0.0
  origin_y: 0.0

global_costmap:

global_costmap: 
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 40.0
  height: 40.0
  resolution: 0.05

Common_costmap:

footprint: [[-0.792, -0.344], [0.408, -0.344], [0.408, 0.344], [-0.792,0.344]]

observation_sources: scan scan2
scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
scan2: {sensor_frame: /laser2, data_type: LaserScan, topic: /scan2, marking: true, clearing: true}

I end in this situation because I notice my global plan didn't take in count the global costmap based on the map.

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Comments

what situation? it is not clear what is your problem.

Procópio gravatar image Procópio  ( 2016-04-28 02:55:06 -0500 )edit

It's the same situation that this one I use 2 laserscans : one higher than the others. I have correct the situation, I will post my config files.

TomSon gravatar image TomSon  ( 2016-04-28 04:40:38 -0500 )edit

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answered 2016-04-28 06:58:32 -0500

TomSon gravatar image

Auto-answer time :) ... or at least better configs files without troubles :)

costmap_common:

footprint: [[-0.792, -0.344], [0.408, -0.344], [0.408, 0.344], [-0.792,0.344]]

observation_sources: scan scan2
scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
scan2: {sensor_frame: /laser2, data_type: LaserScan, topic: /scan2, marking: true, clearing: false}

inflation_radius: 0.344

global costmap:

#Independent settings for the planner's costmap
global_costmap: 
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: true
  rolling_window: map
  width: 40.0
  height: 40.0
  resolution: 0.05

local costmap:

local_costmap:
  update_frequency: 3.0
  publish_frequency: 3.0
  static_map: false
  rolling_window: true
  width: 5
  height: 5
  resolution: 0.1
  origin_x: 0.0
  origin_y: 0.0

Now the nav plan don't plan to go through map walls.

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Asked: 2016-04-27 09:13:12 -0500

Seen: 505 times

Last updated: Apr 28 '16