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Layered costmap performance

asked 2019-02-08 06:45:14 -0600

SleepyTurtle gravatar image

updated 2019-02-09 07:18:38 -0600

After switching to the plugin implementation of costmap_2d in order to be able to work with layers, the layers load extremely slowly and in chunks, it's a bit difficult to explain, so I've included pictures:

Using pre-hydro configuration:

image description

Using plugins:

image description

It's a problem since it also affects the planners.

Here are my config files:

costmap_common_params.yaml:

  obstacle_range: 3.5
  raytrace_range: 4.0
  robot_radius: 0.4
  inflation_radius: 0.7

  obstacle_layer:
    observation_sources: laser_scan_sensor
    laser_scan_sensor: {sensor_frame: /sensor_link, data_type: LaserScan, topic: /navbot/scan_data, marking: true, clearing: true}

global_costmap_params:

global_costmap:
  global_frame: /map
  robot_base_frame: /platform
  update_frequency: 5.0
  static_map: true
  plugins:
    - {name: inflation_layer,   type: "costmap_2d::InflationLayer", output: "screen"}
    - {name: static_map,        type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,    type: "costmap_2d::ObstacleLayer", output: "screen"}

local_costmap_params.yaml:

local_costmap:
  global_frame: /map
  robot_base_frame: /platform
  update_frequency: 8.0
  publish_frequency: 4.0
  rolling_window: true
  static_map: false
  width: 6.0
  height: 6.0
  resolution: 0.05
  plugins:
    - {name: inflation_layer,        type: "costmap_2d::InflationLayer", output: "screen"}
    - {name: obstacle_layer,         type: "costmap_2d::ObstacleLayer", output: "screen"}

Thank you.

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answered 2019-02-08 11:52:42 -0600

David Lu gravatar image

The order of your layers is probably not what you intended. Move the inflation layer from the first position to the last position in each configuration.

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Thank you, I'll try it out on Monday and update the question.

EDIT: That solved the problem, thank you again.

SleepyTurtle gravatar imageSleepyTurtle ( 2019-02-09 07:17:46 -0600 )edit

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Asked: 2019-02-08 06:45:14 -0600

Seen: 69 times

Last updated: Feb 09 '19