move_base does not update local_costmap
Hello,
I have problem with navigation stack, move_base node in particular. I have launched everything and the robot is going to the goal, which I specified on rviz. AMCL localization is working and everything is good except 1 thing, the move_base node doesn't publish any data to local_costmap topic and the robot can't avoid new obstacles.
this is the output from
rosparam get /move_base
NavfnROS: {allow_unknown: true, default_tolerance: 0.1, planner_costmap_publish_frequency: 0.5,
planner_window_x: 0.0, planner_window_y: 0.0, visualize_potential: true}
TrajectoryPlannerROS: {acc_lim_th: 3.5, acc_lim_theta: 1.0, acc_lim_x: 1.0, acc_lim_y: 1.0,
angular_sim_granularity: 0.05, controller_frequency: 5, dwa: true, escape_reset_dist: 0.1,
escape_reset_theta: 1.57079632679, escape_vel: -0.1064, gdist_scale: 0.8, global_frame_id: odom,
goal_distance_bias: 2.5, heading_lookahead: 0.325, heading_scoring: true, heading_scoring_timestep: 0.8,
holonomic_robot: false, latch_xy_goal_tolerance: true, max_rotational_vel: 1.0,
max_vel_theta: 1.0, max_vel_x: 1.0, meter_scoring: true, min_in_place_rotational_vel: 0.05,
min_in_place_vel_theta: 0.55, min_vel_theta: -1.0, min_vel_x: 0.2, occdist_scale: 0.1,
oscillation_reset_dist: 0.1, path_distance_bias: 0.5, pdist_scale: 0.6, planner_frequency: 0,
prune_plan: true, publish_cost_grid_pc: false, restore_defaults: false, sim_granularity: 0.25,
sim_time: 4.0, simple_attractor: false, vtheta_samples: 40, vx_samples: 20, xy_goal_tolerance: 0.2,
y_vels: '-0.3,-0.1,0.1,-0.3', yaw_goal_tolerance: 0.2}
aggressive_reset: {reset_distance: 1.84}
base_global_planner: navfn/NavfnROS
base_local_planner: base_local_planner/TrajectoryPlannerROS
clearing_rotation_allowed: true
conservative_reset: {reset_distance: 3.0}
conservative_reset_dist: 2.0
controller_frequency: 5.0
controller_patience: 3.0
global_costmap:
footprint: '[]'
footprint_padding: 0.01
global_frame: map
height: 10
inflation_layer: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
inflation_radius: 0.4}
inflation_radius: 0.4
laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, max_obstacle_height: 0.4,
min_obstacle_height: 0.1, sensor_frame: laser_frame, topic: scan}
observation_sources: laser_scan_sensor
obstacle_layer:
combination_method: 1
enabled: true
footprint_clearing_enabled: true
laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, max_obstacle_height: 0.4,
min_obstacle_height: 0.1, sensor_frame: laser_frame, topic: /scan}
max_obstacle_height: 2.0
observation_sources: laser_scan_sensor
obstacle_range: 2.5
raytrace_range: 3.0
obstacle_range: 2.5
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
publish_frequency: 0.0
raytrace_range: 3.0
resolution: 0.05
robot_base_frame: base_footprint
robot_radius: 0.2
static_layer: {enabled: true}
static_map: true
transform_tolerance: 1.0
update_frequency: 3.0
width: 10
local_costmap:
footprint: '[]'
footprint_padding: 0.01
global_frame: odom
height: 3
inflation_layer: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
inflation_radius: 0.4}
inflation_radius: 0.4
laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, max_obstacle_height: 0.4,
min_obstacle_height: 0.1, sensor_frame: laser_frame, topic: scan}
map_topic: map
map_type: costmap
observation_sources: laser_scan_sensor
obstacle_layer: {combination_method: 1, enabled: true, footprint_clearing_enabled: true,
mark_threshold: 0, max_obstacle_height: 2.0, origin_z: 0.0, unknown_threshold: 15,
z_resolution: 0.2, z_voxels: 10}
obstacle_range: 2.5
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacle_layer, type: 'costmap_2d::VoxelLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
publish_frequency: 2.0
raytrace_range: 3.0
resolution: 0.05
robot_base_frame: base_footprint
robot_radius: 0.2
rolling_window: true
static_map: false
transform_tolerance: 1.0
update_frequency: 5.0
width: 3
max_planning_retries: -1
oscillation_distance: 0.5
oscillation_timeout: 0.0
planner_frequency: 3.0
planner_patience: 5.0
recovery_behavior_enabled: true
recovery_behaviors:
- {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
- {name: rotate_recovery1, type: rotate_recovery/RotateRecovery}
- {name: aggressive_reset, type ...
Check whether transform is available from laser_frame to robot's base_link frame
@prince I have checked everything seems to be okay, I'll post the screenshot of tf tree soon