difference between resolution in different yaml files?
Hi I am getting confused between the meaning of parameter resolution in:
myMap.yaml
global_costmap_params.yaml
local_costmap_params.yaml
myMap.yaml, I understand that it specifies the meters/cell in my map.
I thought it is the same in global_costmap_params.yaml and local_costmap_params.yaml, but I read some info that implies something different!
Could some one explains the difference for me as a beginner?
I highly appreciate your help.
What info did you read that implies something different? Can you provide a link?
"Parameter resolution defines the grid where planner should search for possible path. When it is set to 1, path will be aligned to 1 meter grid, this value should be definitely smaller."
In this question: https://community.husarion.com/t/navi...
In map.yaml
resolution: 1
global_costmap_params.yaml
resolution: 0.01 # it was 1
local_costmap_params.yaml
resolution: 0.01 # it was 1
After change resolution to 0.01, navigation works fine.
Yes, they are different in that each file pertains to a different map, but the units are the same (meters / cell).
myMap.yamldefines the resolution of your environment map (usually what we think of as "map");global_costmap_params.yamldefines the resolution for the costmap that the global path planner uses; andlocal_costmap_params.yamldefines the resolution for the costmap that the local planner uses. Depending on your costmap configuration, they could all be different values. As far as navigation, a 1m/cell resolution is very coarse and limits the planner's choices (open cells) for getting around obstacles, so it's not surprising that it would work better with a finer resolution. As mentioned in the Navigation Robot Setup Tutorial, all three resolutions are often set the same, but that value is usually more like 0.01 m / cell.