corichman's profile - activity

I currently am not using a launch file. I have been using "rosparam load move_base_params.yaml move_base_node". And then using "rosrun move_base move_base". The odom also seems to work fine.

It never updates

I am trying to run the move_base package and visualize it in rviz. The costmap for the static map from the map server works. However when the robot moves close to an obstacle, the costmap doesn't update. I don't think this is a problem with the point cloud or laser scan since these can be seen working in rviz. There are also no GridCells topics being published like there should be.

The following is the params file for move_base:

obstacle_range: 2.5
raytrace_range: 3.0
max_obstacle_height: 2.0
footprint: [[0.285, 0.6365], [0.285, -0.6365], [-0.285, -0.6365], [-0.285, 0.6365]]
inflation_radius: 0.3

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

point_cloud_sensor: {sensor_frame: camera_frame, data_type: PointCloud, topic: /camera/depth/points, marking: true, clearing: true}


planner_patience: 5.0
shutdown_costmaps: false


TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 2.0
  acc_lim_x: 2.0
  acc_lim_y: 2.0

  sim_time: 1.0

  pdist_scale: 0.6
  gdist_scale: 0.8
  occdist_scale: 0.01

  holonomic_robot: true


global_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: true


local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.01

I have read some stuff about namespaces for the costmap parameters and was wondering if this has anything to do with it? Thanks ahead of time for your suggestions on how to fix this.

I am running move_base however I think it is running default values without the loaded parameters I have set in the yaml file. I am trying to run move_base without a launch file by doing rosrun move_base move_base move_base_params.yaml

This is what is in move_base_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
max_obstacle_height: 2.0
footprint: [[0.285, 0.6365], [0.285, -0.6365], [-0.285, -0.6365], [-0.285, 0.6365]]
inflation_radius: 0.3

observation_sources: laser_scan_sensor point_cloud_sensor

laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

point_cloud_sensor: {sensor_frame: camera_frame, data_type: PointCloud, topic: /camera/depth/points, marking: true, clearing: true}


planner_patience: 5.0
shutdown_costmaps: false


TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 2.0
  acc_lim_x: 2.0
  acc_lim_y: 2.0

  sim_time: 1.0

  pdist_scale: 0.6
  gdist_scale: 0.8
  occdist_scale: 0.01

  holonomic_robot: true


global_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  static_map: true


local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.01

I am noticing that is is still expecting a base_link tf frame and also there is no published costmap. This makes me believe that none of the parameters are being loaded in, and the default values are still being used. Thanks ahead of time for your help