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The obstacle is not on my cost map.

asked 2022-06-19 22:06:45 -0600

BlueBird gravatar image

If I give a goal for the robot, it will bump into the obstacle. I am using Humble and NAV2.

image description image description

global_costmap: global_costmap:

ros__parameters: update_frequency: 2.0

publish_frequency: 2.0 global_frame:

map robot_base_frame: base_link

use_sim_time: True robot_radius: 0.1

resolution: 0.05 track_unknown_space:

true plugins: [“static_layer”, “obstacle_layer”, “inflation_layer”]

static_layer: enabled: True plugin: “nav2_costmap_2d::StaticLayer”

map_subscribe_transient_local: True

obstacle_layer: plugin: “nav2_costmap_2d::ObstacleLayer”

enabled: True

observation_sources:

scan scan: topic: /scan

sensor_frame: “base_scan”

max_obstacle_height: 2.0

clearing: True marking: True

data_type: “LaserScan”

expected_update_rate: 1.0

raytrace_max_range: 3.0

raytrace_min_range: 0.0

obstacle_max_range: 2.5

obstacle_min_range: 0.0

inflation_layer: plugin: “nav2_costmap_2d::InflationLayer”

cost_scaling_factor: 1.0

inflation_radius: 0.55

always_send_full_costmap: True

global_costmap_client:

ros__parameters:

use_sim_time: True

global_costmap_rclcpp_node:

ros__parameters:

use_sim_time: True

local_costmap:

local_costmap:

ros__parameters: update_frequency: 5.0

publish_frequency: 5.0 global_frame: odom

robot_base_frame: base_link

use_sim_time: True

rolling_window: true

width: 3

height: 3

resolution: 0.05

robot_radius: 0.1

always_send_full_costmap: True

plugins: [“obstacle_layer”, “inflation_layer”]

obstacle_layer:

plugin:

“nav2_costmap_2d::ObstacleLayer”

enabled: True

observation_sources: scan

scan: topic: /scan

max_obstacle_height: 2.0

clearing: True

marking: True

data_type: “LaserScan”

expected_update_rate: 1.0

inflation_layer:

plugin: “nav2_costmap_2d::InflationLayer”

cost_scaling_factor: 3.0

inflation_radius: 1.0

always_send_full_costmap: True

local_costmap_client:

ros__parameters:

use_sim_time: True

local_costmap_rclcpp_node:

ros__parameters: use_sim_time: True

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answered 2022-06-19 23:33:39 -0600

This is indeed a real issue chronicled here: https://github.com/ros-planning/navig...

The summary of the issue is that Humble/Rolling in 22.04 moved from Cyclone DDS to Fast-DDS which is causing failures in the message filters required to process incoming data. We have a temporary patch in PR https://github.com/ros-planning/navig... but we're working on getting some assistance at the Fast-DDS/client library level to resolve the issue which we found with Fast-DDS which many projects may be impacted by.

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I used the temporary patch, and it seems to work. it seems to work

BlueBird gravatar image BlueBird  ( 2022-06-21 09:37:26 -0600 )edit

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Asked: 2022-06-19 22:06:45 -0600

Seen: 62 times

Last updated: Jun 19 '22