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Local navigation with additional rescrictions

asked 2013-06-27 00:55:15 -0500

ZdenekM gravatar image

Hi all,

my goal is to navigate a robot (locally - in odometry frame) using one laser scanner. Moreover I will have some additional restrictions - areas where the robot should not go. I found here two related questions (please let me know if I missed any):

Generating artificial sensor data seems to be sufficient but bit hacky in my opinion... Is this something which might be solved using layered costmaps? Or is there any other good approach? Thanks in advance.

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answered 2013-06-27 06:23:26 -0500

David Lu gravatar image

As the author of the first question and layered costmaps, yes, layered costmaps are a good solution for the problem.

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Ok, thanks for hint. Is there any documentation or examples how to work with layered costmaps?

ZdenekM gravatar image ZdenekM  ( 2013-06-27 06:24:33 -0500 )edit

This is the best I can point you to at the moment: http://ros.org/wiki/costmap_2d/hydro

David Lu gravatar image David Lu  ( 2013-06-27 12:40:49 -0500 )edit
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answered 2020-04-23 20:14:04 -0500

Rufus gravatar image

updated 2020-04-23 20:14:49 -0500

Here's an example layering a static map on top of your usual obstacle + inflation local costmap

local_costmap_params.yaml

local_costmap:
  plugins: 
    - {name: static_map, type: "costmap_2d::StaticLayer"}
    - {name: obstacles, type: "costmap_2d::ObstacleLayer"}
    - {name: inflation, type: "costmap_2d::InflationLayer"}
  global_frame: odom
  robot_base_frame: base_link
  transform_tolerance: 5.0
  update_frequency: 5.0
  publish_frequency: 2.0

  obstacles:
      observation_sources: laser_scan_sensor
      laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}

More details on the types of layers supported can be found here:

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Asked: 2013-06-27 00:55:15 -0500

Seen: 427 times

Last updated: Apr 23