costmap formation for range sensor layer

asked 2018-02-06 10:15:05 -0500

GANESH gravatar image

updated 2018-02-07 01:09:04 -0500

mgruhler gravatar image

Hi, I have two ultrasonic sensor in the front, In the global_costmap_params.yaml and local_costmap_params.yaml i have added the range sensor layer as shown below, i can see the ultrasonic sensor detects obstacles but there is no costmap formation.

plugins:
  - {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}

sonar_layer:
  topics: ["/front_left_sonar", "/front_right_sonar"]
  no_readings_timeout: 1.0
  clear_threshold: 0.2
  mark_threshold: 0.8

Regards Ganesh

edit retag flag offensive close merge delete

Comments

what do you mean by

there is no costmap formation.

mgruhler gravatar image mgruhler  ( 2018-02-07 01:09:47 -0500 )edit

I also have the same problem..the sonar sensor can detect the obstacles but there's no costmap inflation ... do you figure it out?

Clark gravatar image Clark  ( 2019-04-08 03:00:52 -0500 )edit