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Problem with loading social navigation layer plugins on costmap

asked 2017-01-26 10:03:35 -0500

alefag gravatar image

Hello, I am currently using layered costmaps, specifically i am trying to use the social_navigation_layer as described here: . The problem is that i can't figure it out what i do wrong; the plugin does not start. These are my .yaml files:

1) costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[0.36,0.0], [0.28, 0.24],[0, 0.36], [-0.47, 0.15], [-0.47,-0.15], [0.0,-0.36], [0.28,-0.24]]

#robot_radius: ir_of_robot
inflation_radius: 0.45
cost_scaling_factor: 10

cost_factor: 0.8
neutral_cost: 50
lethal_cost: 253

    observation_sources: ale_scan
    ale_scan: {data_type: LaserScan, sensor_frame: /robot/frontLaser/MountFrame, clearing: true, marking: true, topic: /ale_scan}

2) global_costmap_params.yaml

  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 10.0
  resolution: 0.05
  static_map: true

    - {name: footprint_layer,         type: "costmap_2d::FootprintLayer"}
    - {name: inflation_layer,         type: "costmap_2d::InflationLayer", output: "screen"}
    - {name: static_map,             type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,        type: "costmap_2d::ObstacleLayer", output: "screen"}
    - {name: social_layer,           type: "social_navigation_layers::ProxemicLayer", output: "screen"}
    - {name: social_pass_layer,   type: "social_navigation_layers::PassingLayer", output: "screen"}

3) local_costmap_params.yaml

  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 10.0
  publish_frequency: 10.0
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

    - {name: footprint_layer,        type: "costmap_2d::FootprintLayer", output: "screen"}
    - {name: inflation_layer,        type: "costmap_2d::InflationLayer", output: "screen"}
    - {name: obstacle_layer,         type: "costmap_2d::ObstacleLayer", output: "screen"}
    - {name: social_layer,           type: "social_navigation_layers::ProxemicLayer", output: "screen"}
    - {name: social_pass_layer,      type: "social_navigation_layers::PassingLayer", output: "screen"}

and this is the launch file:

  <master auto="start"/>

  <arg name="map_file" default="$(find ale_coro)/launch/corridoio.yaml"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

<!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find ale_coro)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find ale_coro)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find ale_coro)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find ale_coro)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find ale_coro)/launch/base_local_planner_params.yaml" command="load" />

When i launch it, only the footprint, obstacles and inflation layers are loaded. When i try to find the parameters of the social_navigation_layer, there is no trace of them. For that reason when i use rviz, the person is tracked correctly but there is no effect of the proxemic or passing layer.

Can you guys help me, please?

Thank you!

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1 Answer

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answered 2017-01-26 11:13:36 -0500

spmaniato gravatar image

I suspect that the plugins param is not under the correct namespace. Not sure why the other layers do get loaded though.

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Hi and thank you for the answer. I am sorry, but i'm starting programming with ros, so i ask you: how do i check o change the namespace? Thank you

alefag gravatar image alefag  ( 2017-01-30 10:33:57 -0500 )edit

One way would be this: After launching everything, type rosparam list | grep plugins and visually inspect the path / namespace of the relevant parameters.

spmaniato gravatar image spmaniato  ( 2017-01-30 10:52:28 -0500 )edit

I tried and i got: /costmap_node/costmap/plugins /move_base/global_costmap/plugins /move_base/local_costmap/plugins /move_base/plugins

Typing rosparam get /move_base/local_costmap/plugins , returns only two layers, the obstacle and the inflation layer, but there are no trace of others.

alefag gravatar image alefag  ( 2017-01-31 04:05:36 -0500 )edit

That's what I suspected. In your two *_costmap_params.yaml, place plugins under global_costmap: and local_costmap:. Just like you've done with your other parameters. It's YAML, so indentation matters!

spmaniato gravatar image spmaniato  ( 2017-01-31 09:24:40 -0500 )edit

Exactly that was the problem, thanks for your help!

alefag gravatar image alefag  ( 2017-01-31 09:54:46 -0500 )edit

Glad I could help @alefag :-) Could you please click on the checkmark icon next to my answer, which will mark it as accepted? Thanks

spmaniato gravatar image spmaniato  ( 2017-01-31 10:43:53 -0500 )edit

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Asked: 2017-01-26 10:03:35 -0500

Seen: 2,279 times

Last updated: Jan 26 '17