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2011-10-10 05:29:40 -0500 asked a question costmap and move_base

Hello everyone,

I would like to use a costmap and move_base package to navigate our robot. To understand how it works and how to set it up, I started to experiment with roomba_stage (in diamondback version of ros).

Everything seem fine when I am using a static maps. When I try to enable rolling window, I get a problem, that a robot navigates inside this rolling window, but can't reach further than Unknown Space allows. I visualized everything in rviz and it seems like the rolling window doesn't move with the robot accordingly. Laser scans are published, costmap has obstacles but Unknown Space doesn't disappear. I have checked settings for local_costmap several times, tfs are correct, settings also looks fine. Here it is:

local_costmap: global_frame: /odom robot_base_frame: /base_link update_frequency: 3.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 4.0 height: 4.0 resolution: 0.05

Can some one point out, where is a problem?

Thanks in advance.