move_base ignores range_sensor_layer

asked 2019-06-27 08:44:52 -0500

EdwardNur gravatar image

Hi, I am using range_sensor_layer for the obstacle detection in local_costmap but move_base ignores this layer:

[ INFO] [1561642864.636329612]: Loading from pre-hydro parameter style
[ INFO] [1561642864.673250915]: Using plugin "static_layer"
[ INFO] [1561642864.685289751]: Requesting the map...
[ INFO] [1561642864.891193024]: Resizing static layer to 600 X 600 at 0.010000 m/pix
[ INFO] [1561642864.990295842]: Received a 600 X 600 map at 0.010000 m/pix
[ INFO] [1561642865.001122573]: Using plugin "obstacle_layer"
[ INFO] [1561642865.006033224]:     Subscribed to Topics: 
[ INFO] [1561642865.028823675]: Using plugin "inflation_layer"
[ INFO] [1561642865.081472815]: Loading from pre-hydro parameter style
[ INFO] [1561642865.085709171]: Using plugin "obstacle_layer"
[ INFO] [1561642865.086403182]:     Subscribed to Topics: 
[ INFO] [1561642865.089924047]: Using plugin "inflation_layer"
[ INFO] [1561642865.108039393]: Created local_planner dwa_local_planner/DWAPlannerROS

Even though I have declared it in common_costmap:

ultrasonic_layer:
  enabled: true
  max_obstacle_height: 0.4
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  unknown_threshold: 15
  mark_threshold: 0
  combination_method: 1
  track_unknown_space: true #true needed for disabling globalpath planning through unknown space
  obstacle_range: 2.0
  raytrace_range: 3.0
  publish_voxel_map: false
  observation_sources: ultrasonic
  ultrasonic:
    topics: ["/radar"]
    no_readings_timeout: 1.0
    clear_on_max_reading: true

And in local_costmap:

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

I have installed the binaries of range_sensor_layer

edit retag flag offensive close merge delete

Comments

David Lu where are you mate? Your package does not work

EdwardNur gravatar imageEdwardNur ( 2019-06-28 05:16:48 -0500 )edit