Need some basic information regarding costmap_2D

edit

Hi,

I have some problems understanding the behaviour of the costmap_2D class. First, I don't get how this class is started.

Right now I have a launch file, like in the navigation stack tutorial.

<launch>
  <node pkg="robot_mover" type="robot_mover" respawn="false" name="robot_mover" output="screen">
    <rosparam file="$(find robot_mover)/cfg/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find robot_mover)/cfg/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find robot_mover)/cfg/global_costmap_params.yaml" command="load" />
  </node>
</launch>

where robot_mover is my package which shall be similar to the move_base package in the end.

And in my robot_mover package I have this code:

tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS costmap("my_costmap", tf);

When I launch this either with

roslaunch robot_mover robot_mover.launch

or with

rosrun robot_mover robot_mover

I always get this warning:

You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server

Where do I request a static map here?
And why do I get this warning when I use rosrun?
I only set parameters in the yaml files which are called in the launch file, don't I?

I also start gmapping:

rosrun gmapping slam_gmapping scan:=base_scan

Does ROS mean the map from gmapping with this warning?

Don't know how else I could start this costmap.
I just wanna build a simple exploration algorithm that detects obstacles in front of my robot and therefore I wanted to use the grid with included obstacles.

Or shall I just ignore this warning?
Is it possible to get relevant data for obstacles out of the costmap variable of my class to compute the grid myself?

Hard to find anything in the ROS Wiki for this specific problem.

My yaml files look like that:

common:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.200, -0.350], [-0.200, 0.350], [0.200, 0.350], [0.200, -0.350]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor 

laser_scan_sensor: {sensor_frame: /base_laser_link, data_type: LaserScan, topic:  base_scan, marking: true, clearing: true}

global:

global_costmap:
   global_frame: odom
   robot_base_frame: base_link
   update_frequency: 5.0
   static_map: false

local:

local_costmap:
   global_frame: odom
   robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.05

A bit much, but hopefully someone can help me!