Using a static costmap for local navigation

asked 2017-06-27 04:07:56 -0600

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I want to use a static map provided by map_server to populate the obstacles used for both global and local navigation by move_base (Assuming a completely static environment, no dynamic obstacles). Using the exact same parameters for both the local and the global map produces different results. The global costmap behaves as expected, being populated with inflated obstacles, while the local costmap remains empty. As such global navigation plans look excellent while execution involves locally optimizing the route through walls.

local_costmap: # And also global_costmap
  robot_radius: 0.2
  inflation_radius: 0.2
  global_frame: /odom_fused
  robot_base_frame: base_link
  update_frequency: 10.0
  static_map: true
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