Global Planner's Costmap Empty

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Hello Everyone,

I am currently trying to get the global_planner to create path. The problem I am having is that the planner is creating paths through obstacles, and static map. I followed the tutorial on setting up the navigation stack, and also other forums posts with similar issues 1 2 3.

Here are my YAML configuration files:

global_costmap_params.yaml:

global_costmap:
      global_frame: /map
      robot_base_frame: base_link
      update_frequency: 5.0
      publish_frequency: 5.0
      static_map: true
      rolling_window: false
      resolution: 0.05
      always_send_full_costmap: true

plugins:
      - {name: static,           type: "costmap_2d::StaticLayer"}
      - {name: obstacles,        type: "costmap_2d::ObstacleLayer"}
      - {name: inflation,        type: "costmap_2d::InflationLayer"}

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.1, 0.1],[-0.1,-0.1],[0.1,-0.1],[-0.1,0.1]]
footprint_padding: 0.1
resolution: 0.05
inflation_radius: 0.1
update_frequency: 5.0
publish frequency: 5.0
transform_tolerance: 2.0

static:
 map_topic: /map
 subscribe_to_updates: true


observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

Here is the launch file for the global_planner:

<launch>
  <!-- planner -->
  <node pkg="global_planner" type="planner" name="global_planner">
  <remap from="/global_planner/goal" to="/move_base_simple/goal"/>
  <rosparam file="/home/nvidia/rc_car/JetsoNavigation/Navigation_ws/param/costmap_common_params.yaml" command="load" />
  <rosparam file="/home/nvidia/rc_car/JetsoNavigation/Navigation_ws/param/global_costmap_params.yaml" command="load" />
  </node>
</launch>

This is how the costmap from the global planner looks like:

after running rqt_reconfigure, and adjusting the origin of the global_costmap, I am able to generate paths on the global planner, but it plans through obstacles.

Here I am running the example from the costmap_2d package, and it is picking up the static map, and obstacles from the lidar.

This is how the config file for the costmap_2d example looks like:

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

#set if you want the voxel map published
publish_voxel_map: true

#set to true if you want to initialize the costmap from a static map
static_map: true

#begin - COMMENT these lines if you set static_map to true
#rolling_window: true
#width: 3.0
#height: 3.0
#resolution: 0.025
#end - COMMENT these lines if you set static_map to true

#START VOXEL STUFF
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
#END VOXEL STUFF

transform_tolerance: 0.3
obstacle_range: 2.5
max_obstacle_height: 2.0
min_obstacle_height: 0.0
raytrace_range: 3.0
footprint: [[-0.13, -0.08], [-0.13, 0.08], [0.13, 0.08], [0.13, -0.08]]
#robot_radius: 0.46
footprint_padding: 0.01
inflation_radius: 0.3
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4, sensor_frame: laser, topic: /scan,
            observation_persistence: 0.0, marking: true, clearing: true  } #, max_obstacle_height: 0.4, min_obstacle_height: 0.0}

When I echo on console /global_planner/costmap/costmap it looks mostly empty with some exceptions.

When I launch amcl, I can see on the map server console that it is sending a map; however when I launch the global planner I don't see that output on the console. This means the global_planner is not getting the costmap from the map_server?

I am not ... (more)