Local costmap shows free space as obtacles in Foxy
Hi everyone. I'm using nav2 stack in ros2 foxy. I'm following this tutorial . Only change is my own robot. When I run the program, there is obstacles in the local cost map in rviz even though there is no obstacle in gazebo. My navigation parameters are :
global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: True robot_radius: 0.22 resolution: 0.05 track_unknown_space: false rolling_window: false plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: 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 max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" 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: 3.0 inflation_radius: 0.55 always_send_full_costmap: True local_costmap: local_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link use_sim_time: True rolling_window: true width: 3 height: 3 resolution: 0.05 robot_radius: 0.22 plugins: ["voxel_layer", "inflation_layer"] voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55 always_send_full_costmap: True
When I run the following command:
ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker
Terminal indicates:
Published 124 markers in 0.000085 seconds