Detected object not appearing in costmap - Navigation2
Required Info:
- Operating System:
- Ubuntu 20.04
- ROS2 Version:
- Galactic
Hello,
I am working with a multi-robot package, and I am facing the following problem: The robot's costmap does not reflect what the lidar data (see image).
I will place the output from ros2 param dump, below. Any help is hugely appreciated! I can also place the outup from ros2 topic list and the tf_tree if needed!
/robot_0/global_costmap/global_costmap:
ros__parameters:
/bond_disable_heartbeat_timeout: true
always_send_full_costmap: true
clearable_layers:
- obstacle_layer
- voxel_layer
- range_layer
filters: []
footprint: '[]'
footprint_padding: 0.01
global_frame: map
height: 5
inflation_layer:
cost_scaling_factor: 10.0
enabled: true
inflate_around_unknown: false
inflate_unknown: false
inflation_radius: 0.66
plugin: nav2_costmap_2d::InflationLayer
lethal_cost_threshold: 100
map_topic: /robot_0/map
observation_sources: scan
obstacle_layer:
combination_method: 1
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
observation_sources: scan
plugin: nav2_costmap_2d::ObstacleLayer
scan:
clearing: true
data_type: LaserScan
expected_update_rate: 10.0
inf_is_valid: false
marking: true
max_obstacle_height: 2.0
min_obstacle_height: 0.0
observation_persistence: 1.0
obstacle_max_range: 3.5
obstacle_min_range: 0.0
raytrace_max_range: 3.0
raytrace_min_range: 0.0
sensor_frame: robot_0/ranger_0/base_scan
topic: /robot_0/ranger_0
origin_x: 0.0
origin_y: 0.0
plugins:
- static_layer
- obstacle_layer
- inflation_layer
publish_frequency: 1.0
qos_overrides:
/clock:
subscription:
depth: 1
durability: volatile
history: keep_last
reliability: best_effort
resolution: 0.05
robot_base_frame: robot_0/base_link
robot_radius: 0.33
rolling_window: false
static_layer:
enabled: true
map_subscribe_transient_local: true
map_topic: ''
plugin: nav2_costmap_2d::StaticLayer
subscribe_to_updates: true
transform_tolerance: 0.0
track_unknown_space: true
transform_tolerance: 0.3
trinary_costmap: true
unknown_cost_value: 255
update_frequency: 1.0
use_maximum: false
use_sim_time: true
width: 5
/robot_0/local_costmap/local_costmap:
ros__parameters:
/bond_disable_heartbeat_timeout: true
always_send_full_costmap: true
clearable_layers:
- obstacle_layer
- voxel_layer
- range_layer
filters: []
footprint: '[]'
footprint_padding: 0.01
global_frame: robot_0/odom
height: 4
inflation_layer:
cost_scaling_factor: 10.0
enabled: true
inflate_around_unknown: false
inflate_unknown: false
inflation_radius: 0.33
plugin: nav2_costmap_2d::InflationLayer
lethal_cost_threshold: 100
map_topic: /robot_0/map
observation_sources: scan
obstacle_layer:
combination_method: 1
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
observation_sources: scan
plugin: nav2_costmap_2d::ObstacleLayer
scan:
clearing: true
data_type: LaserScan
expected_update_rate: 0.0
inf_is_valid: false
marking: true
max_obstacle_height: 2.0
min_obstacle_height: 0.0
observation_persistence: 1.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
raytrace_max_range: 3.0
raytrace_min_range: 0.0
sensor_frame: ''
topic: /robot_0/ranger_0
origin_x: 0.0
origin_y: 0.0
plugins:
- obstacle_layer
- inflation_layer
publish_frequency: 2.0
qos_overrides:
/clock:
subscription:
depth: 1
durability: volatile
history: keep_last
reliability: best_effort
resolution: 0.05
robot_base_frame: robot_0/base_link
robot_radius: 0.4
rolling_window: true
track_unknown_space: false
transform_tolerance: 0.3
trinary_costmap: true
unknown_cost_value: 255
update_frequency: 5.0
use_maximum: false
use_sim_time: true
width: 4