Global Costmap sliced

asked 2020-01-07 06:15:38 -0600

BATillmanOtt gravatar image

updated 2020-01-07 07:43:45 -0600

Hi everyone,

i have a problem with my global costmap. While the local costmap seems to work fine the global costmap is chopped into pieces after a while. The error seems to occur whenever the card is resized

[INFO] Resizing static layer to 283 X 245 at 0.050000 m/pix

image description

Here are my Costmap Parameters:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 9.0
footprint: [[0.5, 0.3], [-0.5, 0.3], [-0.5, -0.3], [0.5, -0.3]]
inflation_radius: 0.5
transform_tolerance: 0.8
observation_sources: point_cloud_sensor #laser_scan_sensor
point_cloud_sensor: {sensor_frame: base_link, data_type: PointCloud, topic: scan_matched_points2, marking: true, clearing: true}
#laser_scan_sensor: {sensor_frame: scan_1, data_type: LaserScan, topic: scan_1, marking: true, clearing: true}
meter_scoring: true

global_costmap_params.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 10.0
  static_map: true #ignored
  resolution: 0.05
  plugins:
  #  - {name: inflation_layer,         type: "costmap_2d::InflationLayer", output: "screen"}
    - {name: static_map,       type: "costmap_2d::StaticLayer"}
  static_map:
    map_topic: "map"
    subscribe_to_updates: true

local_costmap_params.yaml:

local_costmap:
  global_frame: map 
  robot_base_frame: base_link
  update_frequency: 10.0
  publish_frequency: 10.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
  plugins:
    - {name: static_map,       type: "costmap_2d::StaticLayer"}
    #- {name: inflation_layer,         type: "costmap_2d::InflationLayer", output: "screen"}
  #inflation_layer:

  static_map:
    map_topic: "map"
    subscribe_to_updates: false

I am grateful for every idea.

Thanks, Tillman

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Comments

How often are you publishing maps?

David Lu gravatar imageDavid Lu ( 2020-01-10 15:28:36 -0600 )edit