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I have solved by add lidar, that sensor is high accuracy and speed rate. Fake laser from image have a lot of issue when

I have solved by add lidar, that sensor is high accuracy and speed rate. Fake laser from image have a lot of issue when

I have solved by add lidar, that sensor is high accuracy and speed rate. Fake laser from image have a lot of issue when

Hi,
I'm using kobuki and astra camera for navigation
fake laser from depthimage_to_laser that is not reliable,
some time hit obstacle below view of astra
bump topic got data when hit then add to obstacle layer.
sorry the correct ismarking: true, clearing: true

Hi,
I create 2 laser scan by deepth_image_tolaser, one is middle and one is lower z=2-30cm.
when I insert or remove object:
- glocal_costmap is clean and mark as obstacle
- local_costmap is remark obstacle but can't clean

This is my cosmap config.
footprint: [ [0.18, 0.18], [-0.18, 0.18], [-0.18, -0.18], [0.18, -0.18] ]

map_type: voxel

obstacle_layer:
enabled: true
max_obstacle_height: 1.2
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 0.18 #3
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false

observation_sources: scan scan_low bump
scan:
data_type: LaserScan
topic: scan
observation_persistence: 0.0
marking: true
clearing: true
min_obstacle_height: 0.1
max_obstacle_height: 1.2

scan_low:
data_type: LaserScan
topic: scan_low
observation_persistence: 0.0
marking: true
clearing: true
min_obstacle_height: 0.2
max_obstacle_height: 0.7

bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
observation_persistence: 6000.0
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid

inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
enabled: true
robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)

the steps following :
1. sign-up a ros accout and request add user
2. when login http://wiki.ros.org/ click MoreAction (right panel)
3. select copy current page --> toolbox display then rename page ex: http://wiki.ros.org/vn
4. start edit copy page used text or guid mode.

Now I can create page. http://wiki.ros.org/vn

Hi,

Currently, don't have vietnamese translation for ros, I want create one page like http://wiki.ros.org/ja , where the guide I can follow?

work for me, ubuntu 14.04 ros indigo

I faced that bug when run navigation stack:

[WARN] [1487482806.350308596]: Clearing costmap to unstuck robot (3.000000m).
[INFO] [1487482807.285442382]: Resizing costmap to 442 X 361 at 0.050000 m/pix
[WARN] [1487482807.325815870]: InflationLayer::updateCosts(): seen_ array size is wrong
[INFO] [1487482807.351419340]: Got new plan
[WARN] [1487482807.354029995]: Received an empty transformed plan.

Error in `/home/ros_ws/devel/lib/move_base/move_base': double free or corruption (!prev): 0x00379688
ros_ws/devel/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel odom:=odom scan:=/scan __name:=move_base __log:=/home/ubuntu/.ros/log/29cfc5ec-f657-11e6-8b84-00044b5b032c/move_base-1.log].
log file: /home/ubuntu/.ros/log/29cfc5ec-f657-11e6-8b84-00044b5b032c/move_base-1*.log

Look at the source I think that is inflation_layer.cpp.

After clearning costmap some object still looking at memory ? have any fixed for that bug.

else if (seen_size_ != size_x * size_y) 
{
  ROS_WARN("InflationLayer::updateCosts(): seen_ array size is wrong"); 
  delete[] seen_;
  seen_size_ = size_x * size_y;
  seen_ = new bool[seen_size_];
}

When robot too close obstacle the waring as:
-> Rotate recovery can't rotate in place because there is a potential collision
in that situation planning will stop also.
-> try adjust frequency update map and planing before it hit or too close object.

Hi mig I have modified launch file for debug then have error --> OSError: [Errno 8] Exec format error
thanks you :)

I run a launch file for irobot-create2 ( https://github.com/AutonomyLab/create... ) then faced issue, I think that is related to python.

My setup:
- Ubuntu LS12.04
- Ros Hydro
- irobot create2

First I run without ca_description/launch/create_2.launch
$ roslaunch ca_driver create_2.launch [desc:=false] [publish_tf:=true]
--> it start communication with irobot.

Next I run launch file ca_description/launch/create_2.launch
--> OSError: [Errno 8] Exec format error

Traceback (most recent call last):
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
    p.start()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
    self._start_infrastructure()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
    self._load_config()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
    self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 614, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 240, in _param_tag
    value = self.param_value(verbose, name, ptype, *vals)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/loader.py", line 466, in param_value
    p = subprocess.Popen(shlex.split(command), stdout=subprocess.PIPE)
  File "/usr/lib/python2.7/subprocess.py", line 679, in __init__
    errread, errwrite)
  File "/usr/lib/python2.7/subprocess.py", line 1249, in _execute_child
    raise child_exception
OSError: [Errno 8] Exec format error

<xacro:property name="diffdrive_update_rate" value="40"/>
<xacro:property name="wheel_separation" value="235"/>
......
<xacro:property name="mass_kg" value="3.5"/>
  <xacro:macro name="create_base" params="wheel_separation base_diameter *mesh">

jacobperronYour point is correct :)
I have updated as below

jacobperronYour point is correct :)
I have update as below

<xacro:property name="diffdrive_update_rate" value="40"/>
<xacro:property name="wheel_separation" value="235"/>
<xacro:property name="wheel_radius" value="0.036"/>
<xacro:property name="wheel_width" value="0.024"/>
<xacro:property name="wheel_torque" value="1.0"/>
<xacro:property name="wheel_accel" value="1.8"/>
<xacro:property name="mass_kg" value="3.5"/>
 
<xacro:macro name="create_base" params="wheel_separation base_diameter *mesh">