# Spatio temporal voxel layer - working only the local costmap without the global costmap

Hi, I'm trying use this great package for collision detection, but I want to use only the pointcloud of local costmap without the global costmap. (/move_base/local_costmap/rgbd_obstacle_layer/voxel_grid)

I've tried to launch the pkg like this:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find local_map)/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find local_map)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find local_map)/base_local_params.yaml" command="load" /> </node>  But due to the fact that I'm not publishing map frame and just using visual odometry, I'm getting errors like this: (I'm working in ODOM frame) [ WARN] [1605022996.467167676]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: source_frame base_link does not exist.. canTransform returned after 0.100732 timeout was 0.1. Is there any way to use just the point cloud generated with the spatio temporal voxel layer without all the other capabilities? Thanks BTW: local_costmap: global_frame: odom (Working in melodic - spatio version 1.35) (move base - 1.16.7) edit retag close merge delete ## 1 Answer Sort by » oldest newest most voted If you want to use only a cost map, you should only use costmap_2d_node. As follows  <! -- Run the costmap node --> <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" > <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
</node>


Note: ns is not local_costmap, you will need to edit local_costmap_params.yaml.

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Thanks @miura but I want to use the Spatio temporal voxel layer as my 3d local map just the way I'm having it when I run the move base with it. I've tried what you wrote but I'm not getting the Spatio temporal voxel layer. I need this topic(point cloud): (/move_base/local_costmap/rgbd_obstacle_layer/voxel_grid) Thanks

( 2020-11-12 01:37:03 -0600 )edit