Ask Your Question
0

move_base global/local planner configuration

asked 2020-03-25 02:49:54 -0500

dschnabel gravatar image

I'm having a hard time setting move_base parameters for my global/local planner. I would expect move_base to complain about invalid parameters instead of using old parameters as it seems. Is there a cache of some sort for the planner configs?

For example in my costmap_common_params_waffle.yaml I have this:

map_type: costmap
observation_sources: scan
scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

Now if I comment out all lines, move_base still subscribes to the topic 'scan'. If I rename the topic from 'scan' to 'scan-123' (non-existent topic), move_base still subscribes to the topic 'scan'. In fact, even if I don't even pass this file to move_base it still behaves the same:

<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_waffle.yaml" command="load" ns="global_costmap" />

This is a real mystery to me. Is there a way I can debug move_base and see where it gets it's configs from?

edit retag flag offensive close merge delete

Comments

1

Just FYI, if you don't restart the roscore or clear your rosparams manually they will remain even if you comment them out.

bob-ROS gravatar image bob-ROS  ( 2020-03-25 04:03:47 -0500 )edit

That was my problem! I needed to delete the rosparams in order to clear the cache (e.g. 'rosparam delete /move_base/global_costmap/obstacle_layer/scan/sensor_frame').

Thanks @bob-ROS for pointing that out. Small details you don't get taught when you study ROS.

dschnabel gravatar image dschnabel  ( 2020-03-26 00:50:17 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2020-03-26 00:52:29 -0500

dschnabel gravatar image

See comment from bob-ROS:

Just FYI, if you don't restart the roscore or clear your rosparams manually they will remain even if you comment them out.

I needed to delete the rosparams in order to clear the cache:

rosparam delete /move_base/global_costmap/obstacle_layer/scan/sensor_frame
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2020-03-25 02:49:54 -0500

Seen: 27 times

Last updated: Mar 26