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Problem with grey(empty spots) on global_costmap inflater layer

asked 2021-03-18 11:19:04 -0500

Jarry gravatar image

updated 2021-03-23 06:17:12 -0500

Hi, I am using my own diff-drive robot on ROS Melodic on Ubuntu 18.04.

When creating global plan, value of starting point on global costmap is erased. The problem is that global costmap is not refreshed and after multiple rides, I have many empty pixels. Thus next global paths are very curved. I will be really gratefull for some tip!

My costmap parameters:
    global_frame: map
    robot_base_frame: base_link
    rolling_window: false
    obstacle_layer:
       enabled: false
    update_frequency: 10
    publish_frequency: 1
    cost_scaling_factor: 6
    inflation_radius: 2 
    raytrace_range: 2

    resolution: 0.025
    robot_radius: 0.35
    footprint_padding: 0
    transform_tolerance: 0.5
    track_unknown_space: false

    plugins: 
        - {name: static_layer,            type: "costmap_2d::StaticLayer"}
        - {name: obstacle_layer,          type: "costmap_2d::ObstacleLayer"}
        - {name: inflater_layer,          type: "costmap_2d::InflationLayer"}

    obstacle_layer:
           footprint_clearing_enabled: false
           observation_sources: scan
           scan: 
             marking: true    
             clearing: true 
             data_type: LaserScan
             topic: sick_safetyscanners/scan
             sensor_frame: base_link
             inf_is_valid: false

empty pixels curved path

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1 Answer

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answered 2021-05-27 07:02:14 -0500

Jarry gravatar image

updated 2021-05-27 07:02:34 -0500

The solution that satisfied me was to set footprint_clearing_enabled. Previously I disabled whole obstacle layer, as I don't want any changes in my map.

global_costmap:
  obstacle_layer:
    enabled: true
    footprint_clearing_enabled: true
    scan:
      marking: false    
      clearing: false
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Asked: 2021-03-18 11:19:04 -0500

Seen: 103 times

Last updated: May 27 '21