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2016-05-18 07:46:50 -0500 asked a question How to change size of the inflation in move_base costmap?

image description

This is how the costmap looks right now. The yellow stuff has the value 254. The blue stuff has the value 253. I want to expand the portions of value 253, but no matter what parameters I change in

  • base_local_planner_params.yaml
  • costmap_common_params.yaml
  • local_costmap_params.yaml
  • global_costmap_params.yaml

Nothing changes in rviz. Parameters right now are:

max_vel_x: 0.2 min_vel_x: 0.0

max_vel_y: 0.0 min_vel_y: 0.0

max_trans_vel: 0.2 min_trans_vel: 0.0

max_rot_vel: 0.3 min_rot_vel: 0.05

sim_time: 2.0 sim_granularity: 0.025

goal_distance_bias: 32
path_distance_bias: 25
occdist_scale: 0.001

stop_time_buffer: 0.2
oscillation_reset_dist: 0.1

forward_point_distance: 0.2

scaling_speed: 0.25
max_scaling_factor: 0.2

vx_samples: 10 vy_samples: 10
vtheta_samples: 20

sim_period: 0.1

xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.2

rot_stopped_vel: 0.0
trans_stopped_vel: 0.01

obstacle_range: 6.5

raytrace_range: 6.0

inflation_radius: 2

cost_scaling_factor: 0.5

robot_radius: 1

max_obstacle_height: 1.7

min_obstacle_height: 1.0

observation_sources: scan

scan: {data_type: PointCloud2, topic: /velodyne_points_base, marking: true, clearing: true, expected_update_rate: 0}


global_frame: /map

robot_base_frame: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

resolution: 0.05

transform_tolerance: 2.0

map_type: costmap

width: 30.0

height: 30.0


  - {name: static_map,              type: "costmap_2d::StaticLayer"}  

  - {name: obstacles,               type: "costmap_2d::VoxelLayer"} 

  - {name: scancalssifier_layer,    type: "scan_classifier_layer_namespace::ScanClassifierLayer"}  

  - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}


global_frame: /map

robot_base_frame: /base_link

update_frequency: 2.0

publish_frequency: 2.0

static_map: true

rolling_window: false

width: 2.0

height: 2.0

resolution: 0.05

transform_tolerance: 2.0

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2016-05-18 05:45:58 -0500 asked a question Accessing inflation layer from costmap_2d::Costmap2DROS


When I access costmap_2d::Costmap2DROS.getCostmap().getCost(), which layer do I read from? When using the costmap arguement in the function makePlan() in the global planner of move_base, and reading with getCost(), the inflation values that are visible in Rviz are not represented in, costmap_2d::Costmap2DROS.getCostmap().getCost(). E.g. the cost around the obstacle is not gradually decreasing as you would expect. Any ideas how to solve it?

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2016-05-13 09:26:16 -0500 asked a question How to read positions from tf::TransformBroadcaster

This may be a bit of a dumb question, but how do you read poses from tf::TransformBroadcaster?

The wiki, , explains how to send poses using it, but now how to read poses (if that is something you do).

If you are not supposed to read poses from tf::TransformBroadcaster, then what exactly is the purpose of it?

When i say "read" from a tf::TransformBroadcaster, i mean to define a callback for a topic like normal

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2016-05-11 03:22:23 -0500 asked a question Convert sensor_msgs::PointCloud2ConstPtr to pcl::PointCloud<pcl::PointXYZ>::Ptr


I'm using the SampleConsensusModelLine, which requires a pointcloud on the form of pcl::PointCloud<pcl::pointxyz>::Ptr. However, the callback for the point cloud uses the form sensor_msgs::PointCloud2ConstPtr. How do I convert one to the other?

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2016-04-14 13:29:09 -0500 asked a question How to create orientation in geometry_msgs::PoseStamped from angle


I have a point in x,y, and an angle of 30 degrees, that represents a position and an orientation of a robot. The angle is about the z axis. An angle of 0 means that the robot is aligned with the x axis, and an angle of 90 degrees means that the robot is aligned with the y axis. How do represent this as a geometry_msgs::PoseStamped.position and geometry_msgs::PoseStamped.orientation?

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2016-04-08 12:05:35 -0500 commented answer In what sense are nodehandles called "private_nh" private?

From : "In general, resources can create resources within their namespace and they can access resources within or above their own namespace"

Does this mean that it is impossible for another node to subscribe to any topic being published using the private nodehandle?

2016-04-08 09:42:04 -0500 asked a question In what sense are nodehandles called "private_nh" private?

In some of the source files in the navigation stack, there are classes that uses multiple nodehandles, that are usually called nh and private_nh. They are of the same type ros::NodeHandle, so in what sense are the handle called private_nh private?