Rviz local costmap not working
I have been navigating a diffdrive mobile robot in ros, while visualising it in rviz the local cost map doesn't work as expected it doesn't show any obstacles in it, it shows only white and black shaded area. I am new to ros nav so, please help.
common_costmap.yaml
robot_radius: 0.175
robot_base_frame: base_footprint
update_frequency: 4.0
publish_frequency: 3.0
transform_tolerance: 0.5
resolution: 0.05
obstacle_range: 5.5
raytrace_range: 6.0
static:
map_topic: /map
subscribe_to_updates: true
obstacles_laser:
observation_sources: /scan
laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true}
inflation:
inflation_radius: 0.6
global_costmap.yaml
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 50
publish_frequency: 50
transform_tolerance: 0.5
static_map: true
local_costmap.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 50
publish_frequency: 50
transform_tolerance: 0.5
static_map: false
rolling_window: true
width: 3
height: 3
resolution: 0.05
dwa_planner.yaml
DWAPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
# The velocity when robot is moving in a straight line
max_vel_trans: 0.2
min_vel_trans: 0.035
max_vel_theta: 4.0
min_vel_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 4.0
# Goal Tolerance Parametes
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.5 # sec
vx_samples: 20 # units
vy_samples: 0
vth_samples: 40
controller_frequency: 10.0 #hz
# Trajectory Scoring Parameters
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.05
max_scaling_factor: 0.09
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
move_base.yaml
shutdown_costmaps: false
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
Asked by iamsdevaprasad on 2023-05-21 21:39:46 UTC
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