Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Created the new layer by following simple layer tutorial on ros wiki but there is no change

I am noob in ros.I used the tutorial guide on http://wiki.ros.org/costmap_2d/Tutorials/Creating%20a%20New%20Layer the layer is successfully made.Then I changed costmaps config file to incorporate this new layer as below:

 global_costmap:

  global_frame: /map
  robot_base_frame: base_link

  update_frequency: 5.0
  publish_frequency: 2.0

  static_map: true
  rolling_window: false


  footprint_padding: 0.02

  plugins:

   - 
     name: obstacle_layer
     type: "costmap_2d::ObstacleLayer" 
   - 
     name: inflation_layer
     type: "costmap_2d::InflationLayer" 

   -
     name: simple_layer
     type: "simple_layer_namespace::SimpleLayer"

I also searched the answer ros and certain question seems to be somewhat like this one but not solving the problem. Any help would be appreciated .Thank You.and here is local costmap config.

local_costmap:

      publish_voxel_map: true


      global_frame: odom
      robot_base_frame: base_link      


      update_frequency: 5.0
      publish_frequency: 2.0


      static_map: false
      rolling_window: true
      width: 6.0
      height: 6.0
      resolution: 0.025
      origin_x: 0.0
      origin_y: 0.0

      plugins:

       - 
         name: obstacle_layer
         type: "costmap_2d::ObstacleLayer" 
       - 
         name: inflation_layer
         type: "costmap_2d::InflationLayer" 

       -
         name: simple_layer
         type: "simple_layer_namespace::SimpleLayer"