mattc_vec's profile - activity

I've got a costmap that uses a static, obstacle, inflation, and another custom layer that I wrote. Is there an easy way to load an additional layer drawn on a PGM grayscale image? If not, I could probably manage to analyze the image with python or C++ and add values to a new costmap layer from there. Thanks!

I'm trying to get the pose of my robot in a custom costmap_2d layer, modeled after the tutorial layer here: http://wiki.ros.org/costmap_2d/Tutori... The robot_x, robot_y, and robot_yaw parameters in the updateBounds function don't seem to change from zero throughout the planning process. Is there any other way to get the pose of the robot in that function? Or some way to see why the pose is zero? I can't seem to find where that function is called. The changes I make to the costmap are applied, though. Thanks!

Is there any way to add the new layer to the existing plugins array? If I specify these layers in the yaml as well, they use the default cost_scaling_factor and inflation radius, which I don't want.

Yeah, I completed that tutorial. I've managed create the new layer by specifying a plugins array in a .yaml file I load in the roslaunch file. This plugins array overwrites the existing one, and erases the static, inflation, and obstacle layers.

The project I'm working on uses a costmap that was created before the new costmap_2d implementation. I'm working in Indigo now, but the costmap hasn't been upgraded at all since the ROS version switch. I'd like to implement a new layer, so I'm just trying to get the tutorial Grid Layer set up. I worked through the 'Creating a New Layer' tutorial, but I'm not really sure what else I'll have to add in order to implement this new layer. I know the new code compiled during the catkin_make, but I'm not sure where to add the new layer. Will I need something in the C++ code that creates the original costmap object? Any yaml or xml changes that need to be made? Thanks!

I encountered 'Error [Server.cc:285] Could not open file' when I tried launching gazebo with roslaunch gazebo_ros. I specified world_name:=<worldname.world> (from within the directory where the .world was located). When I added the full path to the file, the error went away.

I have some nodes set to respawn, but I want to kill them cleanly in a python script. Could I use pkill to do this? The nodes are specified by name, so would I need their Pid to have pkill kill them? I can find their Pid through rosnode info, but how would I do this in a script? Thanks!