ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

how to inflate STVL's obstacles

asked 2021-07-27 04:53:38 -0500

ZohyCao gravatar image

Now I'm using Spatio Temporal Voxel Layer in my ROS Navigation.I find that the obstacles STVL detected do not have inflation. I notice that obstacle layer's obstacle have inflation. I don't know where is the difference between obstacle layer and STVL in inflation and how to inflate STVL's obstacles.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2021-07-27 17:36:09 -0500

The same way you inflate the VL's cost grid. The inflation layer inflates all costs of all layers below it in the configuration. My guess is you added STVL at the end of your configuration and therefore after the inflation layer. Change the configuration to place the inflation layer at the end of the layered costmap again and that should solve your issue.

edit flag offensive delete link more


It works,thanks a lot!

ZohyCao gravatar image ZohyCao  ( 2021-07-28 02:40:41 -0500 )edit

Question Tools



Asked: 2021-07-27 04:53:38 -0500

Seen: 221 times

Last updated: Jul 27 '21