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Local costmap is empty

asked 2022-03-01 18:36:37 -0500

bscout gravatar image

I copied over the Husky navigation configuration hoping to improve my move_base planner. However the local costmap is empty, all zeros, and the robot does not navigate well. Launching move_base shows the obstacle layer is not subscribing to the correct scan topic. I can't attach my configuration files but they follow the husky configuration linked above.

[ INFO] [1646180693.575161339]: Using plugin "static"
[ INFO] [1646180693.580630725]: Requesting the map...
[ INFO] [1646180693.784523531]: Resizing costmap to 1352 X 1386 at 0.050000 m/pix
[ INFO] [1646180693.883642011]: Received a 1352 X 1386 map at 0.050000 m/pix
[ INFO] [1646180693.883671651]: Subscribing to updates
[ INFO] [1646180693.888851203]: Using plugin "inflation"
[ INFO] [1646180693.928447104]: Using plugin "obstacles_laser"
[ INFO] [1646180693.929552616]:     Subscribed to Topics:
[ INFO] [1646180693.936405521]: Using plugin "inflation"
[ INFO] [1646180693.964923567]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1646180693.970050453]: Sim period is set to 0.05
[ WARN] [1646180693.973132403]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1646180694.216265904]: Recovery behavior will clear layer obstacles
[ INFO] [1646180694.219692614]: Recovery behavior will clear layer obstacles
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You have already identified a big problem with scan topic. What is your question?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-03-02 07:07:46 -0500 )edit

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answered 2022-03-04 15:38:20 -0500

bscout gravatar image

The answer to this question, and others like this, is to make sure namespaces are declared and referenced correctly. My problem was the defined plugin obstacles_laser in the file costmap_local.yaml did not match the namespace obstacle_layers in the separate file costmap_common.yaml. Since there are no error codes for this, careful parsing of all the configuration .yaml files is required.

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Asked: 2022-03-01 18:36:37 -0500

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Last updated: Mar 04 '22