Turtlebot3 with range_sensor_layer problem

asked 2019-11-04 04:39:29 -0600

reno gravatar image

Hi all,

I'm using Turtlebot3 waflle with LIDAR and everything works great. But I also wanted to add few Pololu VL53L0X sensors to detect obstacles that are under LIDAR. Sensors are working but I'm having problem defining range_sensor_layer in local_costmap_params.yaml

As soon as I include range_sensor_layer I loose inflation_layer and "obstacle_layer

As you can see there are no any inflations and obstacles: image description

By calling rosparam get /move_base/local_costmap/plugins I get following:

- {name: range_layer, type: 'range_sensor_layer::RangeSensorLayer'}

When I remove range_sensor_layer from local_costmap_params.yaml everything is working again :

image description

By calling rosparam get /move_base/local_costmap/plugins I get following:

- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

Looks like range_sensor_layer is making problems for Obstacle and Inflation layers to work.

Full local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.025

  plugins:   
    - {name: range_layer, type: 'range_sensor_layer::RangeSensorLayer'}

  range_layer:
     topics: ["/tof1", "/tof2", "/tof3", "/tof4", "/tof5"]
     clear_threshold: 1.0
     mark_threshold: 8.0
     clear_on_max_reading: true

Any idea what is causing this problem and how to fix it?

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