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Specifying plugins to local_costmap.yaml causes it to disappear

asked 2020-04-08 04:00:44 -0500

KimJensen gravatar image

updated 2020-04-21 06:46:29 -0500

As an additional feature to my navigation stack, I'd like to add social_navigation_layers (http://wiki.ros.org/social_navigation...) to my local costmap, to distinguish between obstacles and humans. This should add extra inflation to the local costmap, such that my teb local planner better can navigate in the environment. For this I'm trying to specify layers of both the global and local costmap in the form of plugins as specified by this tutorial: http://wiki.ros.org/costmap_2d/Tutori....

The problem I'm facing is, that when specifying any plugin (including default) for my local costmap, the local costmap disappears from RViz and the topic /move_base/local_costmap/costmap returns only zero's. This ruins my navigation. If I comment out all plugins in the local costmap then everything works fine, besides that the social_navigation_layers won't be used. Specifying any and all plugins for the global costmap, then this seems to work fine. Using 'rosparam get' I can see, that the plugins are used for both the local and global costmap, despite it not working for the local costmap. If I do not specify any plugins for the local costmap then pre-Hydro parameters will be used, indicated by a warning in the terminal

Currently I'm running Melodic (Ubuntu 18.04), but I've also tested this on Kinetic (Ubuntu 16.04) with the same issue.

Picture of missing costmap. The small curved green line represents parts of an obstacle detected by the laser scanner and shown through teb markers.

UPDATE 1: Added .yaml files, and warning with pre-Hydro parameters.

UPDATE 2: Changed local_costmap.yaml to the way I want them to be, added output of 'rosparam get' and picture of missing costmap from RViz.

costmap_common.yaml

# Common settings for costmaps
# May be overwritten in specific global and local costmap files


# Robot Footprint Parameters
#footprint: [[0.55,0.5],[0.55,-0.5],[-0.55,-0.5],[-0.55,0.5]]   #Square robot
#footprint_padding: 0.01
robot_radius: 0.55    # Circular robot
# inflation_radius: 0.35


# Global Filtering Parameters
obstacle_range: 7   
raytrace_range: 4.0

costmap_global.yaml

global_costmap: 
  # Coordinate frame and tf parameters
  global_frame: map         # Test with /map as per documentation
  robot_base_frame: base_link
  transform_tolerance: 1.5  

  # Rate parameters
  update_frequency: 0.5     
  # publish_frequency: 1.0    

  # Map management parameters
  rolling_window: false
  static_map: true


  plugins:
    - {name: static_layer,         type: "costmap_2d::StaticLayer"}
    - {name: obstacles_layer,      type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,      type: "costmap_2d::InflationLayer"}

  # Layer Definitions
  static_layer:
    map_topic: /map
    subscribe_to_updates: true

  inflation_layer:
    # cost_scaling_factor: 10.0 # Default: 10.0
    inflation_radius: 0.5

costmap_local.yaml

local_costmap: 
  # Coordinate frame and tf parameters
  global_frame: odom
  robot_base_frame: base_link
  transform_tolerance: 1.0  

  # Rate parameters
  update_frequency: 10.0    
  publish_frequency: 10.0   


  # Map management parameters
  static_map: false
  rolling_window: true      
  width: 10                 # The width of the map in meters. Default: 10
  height: 10                # The height of the map in meters. Default: 10
  resolution: 0.05          # The resolution of the map in meters/cell. Default: 0.05


  plugins:
    - {name: obstacles_layer,          type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,          type: "costmap_2d::InflationLayer"}
    - {name: social_layer,             type: "social_navigation_layers::ProxemicLayer"}
    - {name: social_pass_layer,        type: "social_navigation_layers::PassingLayer ...
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Comments

I apparently don't have enough points to add pictures of my *_costmap_params.yaml files to this issue.

and that's a good thing, as .yaml files are simply text. There is no need to post screenshots of text.

Simply copy-paste it into your question, then select all the lines, press ctrl+k or the Preformatted Text button (ie: the one with 101010 on it).

As to your problem: YAML is very sensitive to indentation. Make sure to have consistent and correct indentation.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-08 04:10:53 -0500 )edit

Thank you for your response. I've updated the issue with the .yaml files. I've focused on the indentation, so I think it should be correct.

KimJensen gravatar image KimJensen  ( 2020-04-08 04:45:39 -0500 )edit

Can you set the parameters the way you want them to be (i.e. uncomment the plugins) and then post the rosparam get / output.

David Lu gravatar image David Lu  ( 2020-04-17 09:05:16 -0500 )edit

Thank you for your response. I've updated the issue with changes to the parameters, posted the output of rosparam get and inserted a picture of the missing obstacle.

KimJensen gravatar image KimJensen  ( 2020-04-20 04:51:46 -0500 )edit

Can you change it to the output of rosparam get /move_base/local_costmap?

David Lu gravatar image David Lu  ( 2020-04-20 12:41:11 -0500 )edit

Yes of course. I've updated the issue with both local and global rosparam get /move_base/*_costmap

KimJensen gravatar image KimJensen  ( 2020-04-21 01:15:16 -0500 )edit

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answered 2020-04-21 07:54:05 -0500

KimJensen gravatar image

After comparing the result of rosparam get /move_base/local_costmap for the file costmap_local.yaml with specified plugins and without (pre-Hydro parameters) I noticed two issues:

1.The laser_scanner and observation_sources parameters were not correctly contained inside the obstacle_layer of the local costmap. To correct this I moved these two parameters from a separate .yaml file in which I specified them (loaded into the local_costmap ns inside my .launch file) and to the costmap_local.yaml specified in the following way:

Specified in costmap_local.yaml

  obstacle_layer:
    observation_sources: laser_scanner
    laser_scanner: {sensor_frame: scan_combined, data_type: LaserScan, topic: /laser_unified/scan, marking: true, clearing: true, expected_update_rate: 9.0}

Notice that this must be specified inside costmap_local.yaml and not costmap_common.yaml as I set static_map: true in the costmap_global.yaml. If placed inside costmap_common.yaml a warning similar to this will occur:

[ WARN] [1587471627.753143928, 471.157000000]: The origin for the sensor at (0.02, 0.02, -0.00) is out of map bounds. So, the costmap cannot raytrace for it.

2.Default or pre-Hydro layers call the obstacle layer in its singular form (without an s). Therefore, I changed the name of my obstacle layer plugin to be in the following form:

Specified in costmap_local.yaml

plugins:
    - {name: obstacle_layer,          type: "costmap_2d::ObstacleLayer}
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So you're all set?

David Lu gravatar image David Lu  ( 2020-04-21 15:18:52 -0500 )edit

I’m set to the extend that I have the plugins working (including social_navigation_layers), and I can publish to /people (people_msgs/People) topic to insert humans and additional inflation into my local costmap. So the problem presented is this issue seems to be resolved. Next step/issue is to configure the inflation of this inserted human, such that my local planner (teb) will actually adjust its path, instead of going straight through it. I want a lethal/inscribed/high cost inflation to published humans to be approx 1 meter in radius. Currently, the inserted inflation of the human has no effect on the local trajectory, which can be seen here. Changing the amplitude parameter of social_navigation_layer only has minor effects to the inflation scaling. How would you change scaling of the inflated area, such that the robot avoids the published human?

KimJensen gravatar image KimJensen  ( 2020-04-21 17:24:46 -0500 )edit

I wrote a whole paper about it: http://wustl.probablydavid.com/entry1... It's not easy.

David Lu gravatar image David Lu  ( 2020-04-22 13:54:23 -0500 )edit

So you are confident that this is a tweaking issue, and not something incorrect in the way that I publish messages to the /people topic, or other potential errors in the way that I implement the social_navigation_layers? Published message can be seen here.

KimJensen gravatar image KimJensen  ( 2020-04-27 02:48:08 -0500 )edit

After reading your paper: Given that we're using a standard algorithm (Dijkstra) for global planner and timed elastic band (TEB) as local planner, would you then argue that the method presented in the paper is still valid for our case, as we have no added constant value of P? Finally, are there any way of introducing lethal obstacles using social_navigation_layers, as I believe TEB only accounts for those?

KimJensen gravatar image KimJensen  ( 2020-04-27 06:26:10 -0500 )edit

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Asked: 2020-04-08 04:00:44 -0500

Seen: 879 times

Last updated: Apr 21 '20