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Hi,
I am using costmap 2D Obstacle layer with my lidar data. I want the obstacle layer to also show up inside the robot footprint, which is does not as seen here. I have tried changing footprint_clearing_enabled parameter in Obstacle Layer but that does not seem to help. Can anyone suggest what am I missing here?
What you are missing is that, if this were to happen, move_base will be unable to move your robot at all. This is because no matter which direction the planner tries to move, the robot will be in collision. You really don't want to pursue this if you are going to use the standard move_base planners.
Assuming you have set footprint_clearing_enabled to false, I believe there are some error conditions that also clear the costmap. Disabling the move_base recovery feature might prevent that clearing operation from happening.
But this is exactly the behavior I want. The move base should think that the robot is in collision and should not move. Do you know where in move base (or costmap 2D) is this check actually implemented?
When move_base is running, can you use the rosrun rqt_reconfigure rqt_reconfigure GUI to confirm that the footprint_clearing_enabled parameter is actually set to False (== no check mark)?
Asked: 2021-08-27 06:57:44 -0600
Seen: 119 times
Last updated: Aug 30 '21
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