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How to change size of the inflation in move_base costmap?

asked 2016-05-18 07:46:50 -0600

erwhelewoli gravatar image

updated 2016-05-18 07:50:09 -0600

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This is how the costmap looks right now. The yellow stuff has the value 254. The blue stuff has the value 253. I want to expand the portions of value 253, but no matter what parameters I change in

  • base_local_planner_params.yaml
  • costmap_common_params.yaml
  • local_costmap_params.yaml
  • global_costmap_params.yaml

Nothing changes in rviz. Parameters right now are:

max_vel_x: 0.2 min_vel_x: 0.0

max_vel_y: 0.0 min_vel_y: 0.0

max_trans_vel: 0.2 min_trans_vel: 0.0

max_rot_vel: 0.3 min_rot_vel: 0.05

sim_time: 2.0 sim_granularity: 0.025

goal_distance_bias: 32
path_distance_bias: 25
occdist_scale: 0.001

stop_time_buffer: 0.2
oscillation_reset_dist: 0.1

forward_point_distance: 0.2

scaling_speed: 0.25
max_scaling_factor: 0.2

vx_samples: 10 vy_samples: 10
vtheta_samples: 20

sim_period: 0.1

xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.2

rot_stopped_vel: 0.0
trans_stopped_vel: 0.01


obstacle_range: 6.5

raytrace_range: 6.0

inflation_radius: 2

cost_scaling_factor: 0.5

robot_radius: 1

max_obstacle_height: 1.7

min_obstacle_height: 1.0

observation_sources: scan

scan: {data_type: PointCloud2, topic: /velodyne_points_base, marking: true, clearing: true, expected_update_rate: 0}


global_costmap:

global_frame: /map

robot_base_frame: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

resolution: 0.05

transform_tolerance: 2.0

map_type: costmap

width: 30.0

height: 30.0

plugins:

  - {name: static_map,              type: "costmap_2d::StaticLayer"}  

  - {name: obstacles,               type: "costmap_2d::VoxelLayer"} 

  - {name: scancalssifier_layer,    type: "scan_classifier_layer_namespace::ScanClassifierLayer"}  

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

local_costmap:

global_frame: /map

robot_base_frame: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

width: 2.0

height: 2.0

resolution: 0.05

transform_tolerance: 2.0

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answered 2016-05-23 05:16:59 -0600

MariaKrgr gravatar image

I think the parameter you want is inflation_radius in costmap.yaml. Also, take a look at this thread: http://answers.ros.org/question/12874...

P.S.: Sometimes when I change a parameter in a .yaml file, nothing changes if I don't restart ros master..

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Asked: 2016-05-18 07:46:50 -0600

Seen: 712 times

Last updated: May 23 '16