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costmap static_map

asked 2012-07-25 23:39:19 -0500

pkohout gravatar image

updated 2012-07-25 23:50:27 -0500

hi, i have a little problem, if my localcostmap.yaml set's

static_map:true
rolling_window:false

my costmap works. but i wanna us it as a rolling window, so when i change the confoig to :

static_map:false
rolling_window:true

the map does not display anything in rviz, are there additional parameters which i need to set or change if i use the rolling_window ?

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What do you mean by "the map does not display anything"? The costmap isn't registering obstacles?

DimitriProsser gravatar imageDimitriProsser ( 2012-07-26 03:36:55 -0500 )edit

yes

pkohout gravatar imagepkohout ( 2012-07-26 03:43:31 -0500 )edit

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answered 2012-07-26 04:59:42 -0500

DimitriProsser gravatar image

You have to make sure that you also set the size of the rolling window appropriately:

rolling_window: true
width: 15.0
height: 15.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0

When using a static map, the width and height are determined using the loaded image. In a rolling window, you must manually specify these parameters for your robot. Just know that it places your robot in the center of the rolling window, so the robot can only see things that are height/2 meters away.

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Asked: 2012-07-25 23:39:19 -0500

Seen: 1,074 times

Last updated: Jul 26 '12