costmap parameters - navigation stack

asked 2018-01-08 11:16:13 -0600

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Hello,

for me it's unclear what parameters have to/can be in common_costmap_params.yaml, local_costmap_params.yaml and global_costmap_params.yaml

This tutorial http://wiki.ros.org/navigation/Tutori... doesn't really help me. To start with I just want to use a hand-drawn static map.

Every yaml file i could find in github projects uses different parameters / is otherwise structured. I want to use it together with dwa_local_planner. Also the parameters here differ from project to project and it seems that the ROS Wiki doesn't cover every parameter possible.

At the moment I always get the message "dwa planner failed to produce path". To find the problem I think it would be good the be full aware of the possible parameters and their influence on the system.

I appreciate any help / possible guides.

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answered 2018-01-08 14:10:37 -0600

jarvisschultz

9031 ●58 ●128 ●143 https://www.linkedin.c...

The total cost of a cell in a costmap is calculated from a set of layers that, together, define the whole costmap. The three most common layers and the associated documentation of all parameters are:

Nearly all the examples you have likely found on GitHub are using defining the parameters in their YAML files according to the documentation on the 3 previous links. Note that there is also an old, pre-Hydro way of defining costmap params that you may still find lurking on the internet, and there are a few additional layers that people have developed. This is all described at the end of the costmap_2d page.

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