rviz huge cost cloud [closed]

asked 2017-09-15 12:07:36 -0500

tjadhav gravatar image

Hello guys I'm a very newbie user in the world of ROS been working with ROS for a month now. I'm working with turtlebot using the Kobuki base. Turtlebot came with an Astra 3d camera and I was able to map my house with gmapping and have it autonomously navigate while avoiding obstacles using amcl. So i decided to add a neato xv-11 laser/lidar. I installed the drivers and used the ROS wiki that shows how to add a lidar (Adding a lidar to the turtlebot using hector_models (Hokuyo UTM-30LX) ). I was able to use gmapping to create a map. For some reason I cannot navigate using amcl. When I set the goal, the cost cloud is huge. I have attached the screen shot of rviz, the cost cloud square covers the entire bedroom. If I un-check cost cloud to see that section of the map and then define the goal, turtlebot runs into obstacles. I'm assuming because cost_cloud is unchecked in rviz. I can see the xv-11 scan in rviz. I have searched this forum and the internet and I cannot find anything. I cannot attach a file to this question, site says requires 5 points. I running Indigo on nvidia tegra tk1 board.

So my question is why is the cost cloud so huge that it covers the entire bedroom (bedroom being apporx 15feet X 15 feet)?

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Closed for the following reason the question is answered, right answer was accepted by tjadhav
close date 2017-09-28 09:54:27.337916


Just a couple points:

  1. settings in RViz (checking/unchecking things) won't affect your robot's ability to navigate, it's for visualization
  2. you can copy and paste your files (yaml and launch) here. That may get you more help
jayess gravatar image jayess  ( 2017-09-15 13:11:24 -0500 )edit

thanks for that jayess. i will create another question for the nav issue with the yaml and launch files.

tjadhav gravatar image tjadhav  ( 2017-09-15 13:58:14 -0500 )edit

Jayess, how do I mark you comment as answer?

tjadhav gravatar image tjadhav  ( 2017-09-16 07:43:36 -0500 )edit