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navigation stack with pointcloud2

asked 2020-04-25 23:24:19 -0600

sahar gravatar image

updated 2020-04-26 01:14:15 -0600

gvdhoorn gravatar image

Hi

I am trying to implement navigation stack with PointCloud2. I have 3D ouster lidar which publishes pointcloud2 and the SLAM method I am using is Lego_loam. My problem is: I run both the slam and navigation stack and navigation stack can subscribe to all topics it need (odometry, sensor data, goal, tf) but it outputs a white costmap (values are all zero). Can any one help me to fix this? Also, I don't use static map when I launch navigation stack file there is not any error:

process[move_base-1]: started with pid [23791]
[ WARN] [1587874499.804447103]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1587874499.806094104]: global_costmap: Using plugin "voxel_layer"
[ INFO] [1587874499.813738249]:     Subscribed to Topics: point_cloud2_sensor
[ INFO] [1587874499.847727233]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1587874499.858541757]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1587874499.864232447]:     Subscribed to Topics: point_cloud2_sensor
[ WARN] [1587874499.921024688]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1587874499.922318906]: local_costmap: Using plugin "voxel_layer"
[ INFO] [1587874499.926377909]:     Subscribed to Topics: point_cloud2_sensor
[ INFO] [1587874499.951513718]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1587874499.960004039]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1587874499.964887521]:     Subscribed to Topics: point_cloud2_sensor
[ INFO] [1587874500.014271087]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1587874500.023693092]: Sim period is set to 0.05
[ INFO] [1587874500.212505619]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1587874500.222466737]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1587874500.267657263]: odom received!

here is my common costmap param

obstacle_range: 0.4
raytrace_range: 0.4
#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
robot_radius: 0.3
inflation_radius: 0.55

observation_sources: point_cloud2_sensor

#laser_scan_sensor: {sensor_frame: os1_lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}

point_cloud2_sensor: {sensor_frame: os1_lidar, data_type: PointCloud2, topic: os1_cloud_node/points, marking: true, clearing: true, max_obstacle: 1, min_obstacle: 0.2}

plugins:
  - {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer,   type: "costmap_2d::InflationLayer"}
  - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}

voxel_layer:
  enabled: true
  origin_z: 0.0
  z_resolution: 0.05
  z_voxels: 10
  unknown_threshold: 0
  mark_threshold: 2
  publish_voxel_map: true
  combination_method: 0
  observation_sources: point_cloud2_sensor
  output_points:
    data_type: PointCloud2
    topic: voxel_points
    marking: true
    clearing: true
    obstacle_range: 1.90
    raytrace_range: 2.00
    min_obstacle_height: 0.00
    max_obstacle_height: 3.00
    mark_threshold: 3
    observation_persistence: 2.0

obstacle_layer:
  enabled: true
  origin_z: 0.0
  observation_sources: point_cloud2_sensor

global costmap param:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false
  rolling_window: true

local costmap param:

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 3.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05
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answered 2020-04-27 23:03:58 -0600

prefpkg21 gravatar image

What topic names does the lidar publish to?

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Asked: 2020-04-25 23:24:19 -0600

Seen: 1,066 times

Last updated: Apr 27 '20