Local costmap does not update obstacles on one side of the robot [closed]
Hi, I have been facing this weird issue and would appreciate any help possible.
My robot has a 2D LiDAR sensor and I have been trying to generate a global and a local costmap using the ROS Navigation's costmap_2d. The package does generate correct global costmap but the local costmap does not update any obstacles on the right half of the robot.
I tried to play around with the "expected_update_rate" param and other ObstacleLayer params but I couldn't get the desired output. I also tried rotating the robot, but it's independent of it, it's always the right half of the robot that is ignored.
Here's the output on the rviz: https://drive.google.com/file/d/1lzLy...
The following are the params for move_base and the launch file:
DWAPlannerROS: {acc_lim_theta: 2.0, acc_lim_trans: 0.1, acc_lim_x: 1.0, acc_lim_y: 0.0, angular_sim_granularity: 0.1, forward_point_distance: 0.325, global_frame_id: odom, goal_distance_bias: 24.0, max_scaling_factor: 0.2, max_vel_theta: 1.0, max_vel_trans:
0.5, max_vel_x: 0.5, max_vel_y: 0.5, min_vel_theta: 0.4, min_vel_trans:
0.1, min_vel_x: 0.0, min_vel_y: 0.0, occdist_scale: 0.5, oscillation_reset_angle: 0.2, oscillation_reset_dist: 0.05, path_distance_bias: 64.0, prune_plan: false, publish_cost_grid_pc: true, publish_traj_pc: true, restore_defaults: false, scaling_speed: 0.25, sim_granularity:
0.025, sim_time: 1.0, stop_time_buffer: 0.2, theta_stopped_vel: 0.4, trans_stopped_vel: 0.0, twirling_scale: 0.0, use_dwa: true, vth_samples: 20, vtheta_samples: 20, vx_samples: 6, vy_samples: 1, xy_goal_tolerance: 0.15, yaw_goal_tolerance: 0.3} GlobalPlanner: {allow_unknown: true, cost_factor: 3.0, default_tolerance:
0.0, lethal_cost: 253, neutral_cost: 50, old_navfn_behavior: false, planner_costmap_publish_frequency:
0.0, planner_window_x: 0.0, planner_window_y: 0.0, publish_potential: true, publish_scale: 100, use_dijkstra: true, use_grid_path: false, use_quadratic: true} NavfnROS: {allow_unknown: false, default_tolerance: 0.0, planner_window_x: 0.0, planner_window_y: 0.0, visualize_potential: false} aggressive_reset: {reset_distance:
1.84} base_global_planner: navfn/NavfnROS base_local_planner: dwa_local_planner/DWAPlannerROS clearing_rotation_allowed: true conservative_reset: {reset_distance:
3.0} conservative_reset_dist: 3.0 controller_frequency: 5.0 controller_patience: 3.0 global_costmap: footprint: '[]' footprint_padding: 0.01 global_frame: map height: 10 inflation_layer: {cost_scaling_factor:
5.0, enabled: true, inflate_unknown: false,
inflation_radius: 0.3} obstacle_layer:
combination_method: 1
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
observation_sources: scan
obstacle_range: 5.0
raytrace_range: 10.0
scan: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: base_link,
topic: /scan} obstacle_range: 5.0 origin_x: 0.0 origin_y: 0.0 plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'} publish_frequency: 0.5 raytrace_range: 10.0 resolution:
0.05 robot_base_frame: base_link robot_radius: 0.2 rolling_window: false static_layer: {enabled: true, map_topic: map, subscribe_to_updates: true} static_map: true transform_tolerance: 0.5 update_frequency: 1.0 width: 10 local_costmap: combination_method: 0 footprint: '[]' footprint_padding:
0.01 global_frame: odom height: 10 inflation_layer: {cost_scaling_factor:
5.0, enabled: true, inflate_unknown: false,
inflation_radius: 0.3} obstacle_layer:
combination_method: 1
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
observation_sources: scan
obstacle_range: 5.0
raytrace_range: 10.0
scan: {clearing: true, data_type: LaserScan, expected_update_rate: 0.4, marking: true,
sensor_frame: base_link, topic: /scan} obstacle_range: 5.0 origin_x: 0.0 origin_y: 0.0 plugins:
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'} publish_frequency: 5.0 raytrace_range: 10 ...
The LaserScan topic name you are using is
/cat_dog/correcte...Is that correct? When you view the topic in rviz, does the right half of the topic show up?Yes, my bad, I had edited the description here to change the /scan topic name. Yes, the lidar scan topic is correct and the right half does show up. If you look at the image I have linked, it shows that the right half has inflated obstacles from the global_costmap, but nothing in the local even though the obstacles are within the range of the local_costmap.
I honestly can't predict it anymore. (I'm a little concerned that the frame_id is different between global_costmap and local_costmap, but I don't think this leads to the event in question. )
I have a suggestion for an approach to research. Why don't you try setting global_costmap and local_costmap to the exact same settings? You should get the same cost map. From there, change the values back one by one to the current values. If it is the same as the current state, then something is lurking there.
Hey, thanks for all the support. I was able to identify the bug yesterday, and currently working on solving it. So I published the pointcloud from ObservationBuffer object's latest observation and the pointcloud was only half of the actual pointcloud. The bufferCloud method in the ObservationBuffer class does a transformation of the original cloud to a global_frame_cloud and that transformation right now is causing a loss in data. If I passed the un-transformed pointcloud to the ObstacleLayer class, I could see the entire pointcloud.