Custom layer not showing on Costmap2D
Hi all,
I configured move_base to include an additional layer produced by a PointCloud2:
Observation Source:
yellow_tape_layer:
observation_sources: barrier_tape_detection_scan
barrier_tape_detection_scan:
#sensor_frame: camera_rgb_optical_frame
data_type: PointCloud2
topic: /barrier_tape_detection_scan
observation_persistence: 100.0
marking: true
clearing: false
min_obstacle_height: -2.0
max_obstacle_height: 2.0
The point cloud shows correctly in rviz, transformations etc. are fine.
Note that I tried to manually set the sensor_frame as well - every second point cloud is published in another frame, which is why I tried to avoid that option - but neither case works. I even increased the observation_persistence, hoping that it would just ignore observations happening too quickly.
In general, I copied the configuration from out laser scanners producing the obstacle_layer: enabling the layer in global and local costmap:
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: yellow_tape_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
...
yellow_tape_layer:
enabled: true
max_obstacle_height: 2.0
origin_z: 0.0
z_resolution: 2
z_voxels: 1
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true
obstacle_range: 2.5
raytrace_range: 3.0
publish_voxel_map: true
Which is why I assumed it to work - however, no matter the sensory input, nothing shows in the costmap visualized in rviz. (//edit: I also set combination_method for the laser to 1, of course.)
On startup, move_base happily greets me and says it's going to listen on "barrier_tape_detection_scan" - no leading slash - but it does the same for the lasers, also dropping the slash there. As I said, there are certainly points published and I can visualize them in rviz, yet they never appear in the costmap.
Anything else I can try? Should I post a rosbag/all config files?
ROS Indigo, Ubuntu 14.04 (old, but no time to upgrade...)
If you disable the other two layers. do you see anything? Does
rostopic info /barrier_tape_detection_scan
report a subscription frommove_base
?