Grid layer in costmap2d tutorials, out of map bounds, matchSize().

asked 2019-02-22 04:13:15 -0600

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updated 2019-02-22 04:14:34 -0600

After closely following the Costmap2D tutorial on creating new layers, simple layer worked as intended, grid layer didn't.

After some poking around, I noticed that the costmap it created was always empty because if(worldToMap(mark_x, mark_y, mx, my)) always returned false as the point exceeded the local costmap's bounds. I then noticed that matchSize(); in void GridLayer::onInitialize() had no impact on execution, I think it gets called by the base class anyway. I then moved matchSize() into the updateBounds method and the point now falls inside the costmap's bounds, making it work like simple layer.

My question is the following: Is this a problem with the tutorial or is this a problem with my particular configuration?

I'm using it as a local_costmap layer and my configuration file looks like this:

local_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  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: obstacle_layer, type: "costmap_2d::ObstacleLayer", output: "screen"}
    #- {name: simple_layer, type: "simple_layer_namespace::SimpleLayer", output: "screen"}  
    - {name: grid_layer, type: "simple_layer_namespace::GridLayer", output: "screen"}  
    - {name: inflation_layer, type: "costmap_2d::InflationLayer", output: "screen"}

The layer works with and without modification as a global costmap layer.

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<launch> <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen"> <rosparam ns="costmap"> global_frame: /map robot_base_frame: /base_link update_frequency: 8.0 publish_frequency: 4.0 rolling_window: true static_map: false width: 6.0 height: 6.0 origin_x: -3 origin_y: -3 resolution: 0.05 plugins: - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer", output: "screen"} #- {name: simple_layer, type: "simple_layer_namespace::SimpleLayer", output: "screen"} - {name: grid_layer, type: "simple_layer_namespace::GridLayer", output: "screen"} - {name: inflation_layer, type: "costmap_2d::InflationLayer", output: "screen"} </rosparam> </node> <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /base_link 100" /> </launch>

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My /map -> /base_link transform is provided by AMCL. Changing the origin didn't fix the issue. I tried out your test setup and it works, it must be something to do with particularities of the navigation's stack's local map, I'll continue to work on it. Thanks a lot for looking into my problem!

SleepyTurtle ( 2019-02-27 02:33:32 -0600 )edit

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Grid layer in costmap2d tutorials, out of map bounds, matchSize().

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Grid layer in costmap2d tutorials, out of map bounds, matchSize().