Global Costmap not visualized

asked 2013-09-25 00:24:00 -0500

205 ●14 ●20 ●28

Hi,

I tried to visualize the costmap in RVIZ. The local costmap is published and visualized, while the global costmap doesn't publish any data. Since RVIZ is able to find the global costmap topic, I assume that it is advertised but no data are transmitted (no messages are received).

I use the following configuration:

cost_scaling_factor: 10.0
footprint: '[]'
global_frame: /map
height: 20
inflation_radius: 0.5
lethal_cost_threshold: 100
map_topic: map
map_type: costmap
mark_threshold: 0
max_obstacle_height: 0.6
max_obstacle_range: 20
observation_sources: scan
obstacle_range: 20
origin_x: 0.0
origin_y: 0.0
origin_z: 0.0
publish_frequency: 1.0
publish_voxel_map: false
raytrace_range: 3.0
resolution: 0.05
restore_defaults: false
robot_base_frame: /base_footprint
robot_radius: 0.18
rolling_window: false
scan: {clearing: true, data_type: LaserScan, marking: true, topic: /scan}
static_map: true
track_unknown_space: true
transform_tolerance: 0.5
unknown_cost_value: 255
unknown_threshold: 255
update_frequency: 1.0
width: 20
z_resolution: 0.2
z_voxels: 10

Hopefully someone could help or give me a hint.

Thanks, Daniel

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Not sure about this, but have you tried setting publish_voxel_map to true?

Hendrik Wiese ( 2013-09-25 00:33:07 -0500 )edit

Unfortunately the global_costmap is still not published! I appreciate every hint or idea to visualize it in rviz.

dneuhold ( 2013-09-26 22:15:56 -0500 )edit

1

What I meant with my (deleted) comment was: could you provide the whole costmap configuration file as it is. Not just the settings as they should be. Maybe there's another namespace issue...

Hendrik Wiese ( 2013-09-26 23:09:50 -0500 )edit

What is the global topic you are listening on?

David Lu ( 2013-09-27 05:58:53 -0500 )edit

The topic I am listening on is: /move_base/global_costmap/obstacles The topic is "ok" (in rviz) but no messages are received. There is also no namespace issue, I checked every parameter twice. Thanks to all of you

dneuhold ( 2013-09-29 19:15:32 -0500 )edit

You might want to check that the publish_frequency is > 0.0 for the global costmap, when running the system. The safest way would be to dump the params, while it's running, so you see what's really going on.

dornhege ( 2013-09-30 00:13:45 -0500 )edit

Which version of ROS are you using?

David Lu ( 2013-09-30 04:12:40 -0500 )edit

I use ROS groovy!

dneuhold ( 2013-09-30 04:34:14 -0500 )edit

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answered 2013-11-04 21:33:37 -0500

dneuhold

205 ●14 ●20 ●28

Hi, after some time trying to set the parameters correctly I realized that they are correct. But I localized the problem ... Since I configure all parameters directly from my code (with setparam("")) I assumed that this is the last instance which configures the parameters. If I perform a "rosparam get" in the console, all parameters are set according to the code.

But it seems that there is a bug ... a launch file from /move_base/global_costmap overwrites my parameters WITHOUT signalizing this on a "rosparam get"!!! So I just changed the publish_frequency there and everything worked fine! :)

Hopefully this helps you solving similar problems.

BR, Daniel

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answered 2013-09-29 23:28:37 -0500

dneuhold

205 ●14 ●20 ●28

updated 2013-09-29 23:34:05 -0500

Here is my configuration, actually I tried to set the parameters directly from the code (to make sure that no launch file overwrites the parameters).

nh.setParam("/move_base/local_costmap/update_frequency",1); nh.setParam("/move_base/local_costmap/static_map",false); nh.setParam("/move_base/local_costmap/rolling_window",true); nh.setParam("/move_base/local_costmap/width",10);
nh.setParam("/move_base/local_costmap/height",10); nh.setParam("/move_base/local_costmap/track_unknown_space",true); nh.setParam("/move_base/local_costmap/obstacle_range",10); nh.setParam("/move_base/local_costmap/raytrace_range",10); nh.setParam("/move_base/local_costmap/unknown_cost_value",255); nh.setParam("/move_base/local_costmap/unknown_threshold",255); nh.setParam("/move_base/local_costmap/publish_frequency",1);

nh.setParam("/move_base/global_costmap/update_frequency",1); nh.setParam("/move_base/global_costmap/static_map",true); nh.setParam("/move_base/global_costmap/rolling_window",false); nh.setParam("/move_base/global_costmap/width",200);
nh.setParam("/move_base/global_costmap/height",200); nh.setParam("/move_base/global_costmap/track_unknown_space",true); nh.setParam("/move_base/global_costmap/obstacle_range",10); nh.setParam("/move_base/global_costmap/raytrace_range",10); nh.setParam("/move_base/global_costmap/unknown_cost_value",255); nh.setParam("/move_base/global_costmap/unknown_threshold",255); nh.setParam("/move_base/global_costmap/publish_frequency",1);

nh.setParam("/move_base/TrajectoryPlannerROS/xy_goal_tolerance",0.1); nh.setParam("/move_base/TrajectoryPlannerROS/goal_distance_bias",0.5); nh.setParam("/move_base/TrajectoryPlannerROS/path_distance_bias",0.8);

nh.setParam("/slam_gmapping/map_update_interval",1);
nh.setParam("/slam_gmapping/temporalUpdate",1);
nh.setParam("/slam_gmapping/angularUpdate",1);

I know that this solution may not be the best but all parameters are set the way I want them to be set during run time.

Thanks for all your contributions!

BR, Daniel

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Please do not create answers for discussion or comments. Instead, edit and append to your original post.

dornhege ( 2013-09-30 00:12:46 -0500 )edit

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