Ask Your Question
1

Can a costmap's inscribed_radius and circumscribed_radius be set from the parameter server?

asked 2016-05-09 15:30:27 -0500

spmaniato gravatar image

updated 2016-05-09 15:37:22 -0500

Motivated by this question ( http://answers.ros.org/question/233809 ), I dug into the parameters of costmap_2d and move_base. I had two related questions regarding the radii:

1) Can a costmap's inscribed_radius and circumscribed_radius parameters be set from the parameter server? Digging through the source code, it looks like they are calculated solely based on the robot's footprint / radius (see layered_costmap.cpp#L148), not any user-provided values. Up till now, I thought I could parametrize the inflation layer like below, but I don't think so any more.

inflation_layer:
  enabled: true
  inscribed_radius:     0.15 # Will this have any effect?
  circumscribed_radius: 0.20 # Will this have any effect?
  inflation_radius:     0.40

2) Does move_base actually use local_costmap/inscribed_radius for anything? (see move_base.cpp#L101) Also, the following comment (see L100) is not consistent with my new understanding of costmap parametrization:

//we'll assume the radius of the robot to be consistent with what's specified for the costmaps
private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325);
private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46);
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-12-19 11:32:39 -0500

ed gravatar image

From my examination of the code move_base does grab local_costmap/inscribed_radius however as far as I can tell it is not passed to the costmaps. The costmap calculates both values from the footprint as you stated.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2016-05-09 15:30:27 -0500

Seen: 1,443 times

Last updated: Dec 19 '19