# Revision history [back]

### Check that a pose is free in a costmap

Hi everyone,

I'm trying determine if a given (random) pose is free in a costmap.

My launch file looks like this:

<launch>
<node name="gp" pkg="global_planner" type="planner" output="screen">
<rosparam>
costmap:
footprint: [[0.506, -0.32], [0.506, 0.32], [-0.454, 0.32], [-0.454, -0.32]]
inflater_layer:
plugins:
- {name: 'static_layer', type: 'costmap_2d::StaticLayer'}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
</rosparam>
</node>
<node name="static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /base_link 100"/>
<node name="map_srv" pkg="map_server" type="map_server" args="$(find multirobot_sim)/maps/map_obstacles.yml"/> <node name="get_rnd_pose_srv" pkg="multirobot_sim" type="get_random_pose_server.py"/> <node name="multirob_sim_node" pkg="multirobot_sim" type="multirobot_sim_node.py" output="screen"/> <node name="rviz_" pkg="rviz" type="rviz" args="-d$(find multirobot_sim)/rviz/config_multirobot.rviz"/>
</launch>

I tried to use /gp/make_plan with the same pose for start and goal. But sometimes, a part of the footprint is stuck in an obstacle:

I don't know if I made an error with the parameters or if using the planner for that purpose is simply not possible.

Did I miss something or do have a better idea?

### Check that a pose is free in a costmap

Hi everyone,

I'm trying determine if a given (random) pose is free in a costmap.

My launch file looks like this:

<launch>
<node name="gp" pkg="global_planner" type="planner" output="screen">
<rosparam>
costmap:
footprint: [[0.506, -0.32], [0.506, 0.32], [-0.454, 0.32], [-0.454, -0.32]]
inflater_layer:
plugins:
- {name: 'static_layer', type: 'costmap_2d::StaticLayer'}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
</rosparam>
</node>
<node name="static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /base_link 100"/>
<node name="map_srv" pkg="map_server" type="map_server" args="$(find multirobot_sim)/maps/map_obstacles.yml"/> <node name="get_rnd_pose_srv" pkg="multirobot_sim" type="get_random_pose_server.py"/> <node name="multirob_sim_node" pkg="multirobot_sim" type="multirobot_sim_node.py" output="screen"/> <node name="rviz_" pkg="rviz" type="rviz" args="-d$(find multirobot_sim)/rviz/config_multirobot.rviz"/>
</launch>

I tried to use /gp/make_plan with the same pose for start and goal. But sometimes, a part of the footprint is stuck in an obstacle:

I don't know if I made an error with the parameters or if using the planner for that purpose is simply not possible.

Did I miss something or do have a better idea?

### Check that a pose is free in a costmap

Hi everyone,

I'm trying determine if a given (random) pose is free in a costmap.

My launch file looks like this:

<launch>
<node name="gp" pkg="global_planner" type="planner" output="screen">
<rosparam>
costmap:
footprint: [[0.506, -0.32], [0.506, 0.32], [-0.454, 0.32], [-0.454, -0.32]]
inflater_layer:
plugins:
- {name: 'static_layer', type: 'costmap_2d::StaticLayer'}
- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
</rosparam>
</node>
<node name="static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /base_link 100"/>
<node name="map_srv" pkg="map_server" type="map_server" args="$(find multirobot_sim)/maps/map_obstacles.yml"/> <node name="rviz_" pkg="rviz" type="rviz" args="-d$(find multirobot_sim)/rviz/config_multirobot.rviz"/>
</launch>

I tried to use /gp/make_plan with the same pose for start and goal. But sometimes, a part of the footprint is stuck in an obstacle:

I don't know if I made an error with the parameters or if using the planner for that purpose is simply not possible. possible (for the inflation radius, I just put something slightly superior to the inscribed radius).

Did I miss something or do have a better idea?