ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

costmap_2d doesn't detect Point cloud topic as subscriber [closed]

asked 2012-02-16 23:39:12 -0600

updated 2012-02-17 02:42:42 -0600

DimitriProsser gravatar image

hi everyone,

I'm trying to use standalone costmap_2d node to check if it works properly. I've a PointCloud topic beeing well published, and a launch file with the corresponding lines shown below (I show only the lines corresponding to the costmap_2d node and it's visualitzation).

_________________________________ launch file lines _________________________

<!-- Run the costmap node -->
<node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
  <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
  <param name="/use_sim_time" value="false"/>

<!-- Publishes the voxel grid to rviz for display -->
<node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer">
    <remap from="voxel_grid" to="/costmap_node/costmap/voxel_grid"/>

As you see, I've the parameters at the file: example_params.yaml, wich contain the lines:

________________________________example_params.yaml _____________________________

global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 1.0

publish_voxel_map: true

static_map: false

rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025

map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0

transform_tolerance: 0.3
obstacle_range: 2.5
max_obstacle_height: 2.0
raytrace_range: 3.0
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]

footprint_padding: 0.01
inflation_radius: 0.55
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_sources: point_cloud_sensor 
point_cloud_sensor: {sensor_frame: /tf_pmd_camcube, data_type: PointCloud, topic: /output_obstacle, marking: true, clearing: true}

The point cloud topic has been published correctly with this parameters shown, but the problem is that the costmap_2d doesn't subscrib to this topic. If I check it using rxgraph, the point cloud doesn't appear at the costmap subscribers. only appear /tf and /clock.

Could anyone help me to find what I'm mistaken?

Thanks in advance,


edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by Àngel - IRI
close date 2013-01-22 05:51:35


Can you post a screenshot of rxgraph around costmap?

130s gravatar image 130s  ( 2012-02-17 07:36:14 -0600 )edit

Hi, you could see the rxgraph here : the topic that I want to subscribe the costmap_node is the publisher of /normal_estimation node: /output_obstacle, thanks in advance,

Àngel - IRI gravatar image Àngel - IRI  ( 2012-02-17 23:34:27 -0600 )edit

1 Answer

Sort by » oldest newest most voted

answered 2013-01-22 05:51:14 -0600

I founded a way to do that, so I will close it as answered.

Thank to everyone.


edit flag offensive delete link more


It was more appreciated if you put your solution here...

AliAs gravatar image AliAs  ( 2014-08-26 05:39:21 -0600 )edit

Question Tools


Asked: 2012-02-16 23:39:12 -0600

Seen: 583 times

Last updated: Jan 22 '13