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2019-04-07 22:41:26 -0500 marked best answer how to clear local cost map?

I use sonar-layer in my local cost map, but I cant clear the layer.

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 10.0
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 3.5
  height: 3.5
  resolution: 0.05
  transform_tolerance: 1.0

  plugins:
    - {name: static_map,      type: "costmap_2d::StaticLayer"}
#- {name: obstacles,       type: "costmap_2d::ObstacleLayer"}
    - {name: sonar,           type: "range_sensor_layer::RangeSensorLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
  sonar:
    topics: ['/sonar_0', '/sonar_1','/sonar_2', '/sonar_3', '/sonar_4', '/sonar_6', '/sonar_7', '/sonar_8', '/sonar_9', '/sonar_10', '/sonar_11']  
    no_readings_timeout: 0.0
    clear_threshold: 0.0
  inflation_layer:
    inflation_radius: 0.10

when obstacle , sonar-layer cant clear the obstacle. My robot cant move.
2019-03-05 14:51:00 -0500 marked best answer robot_localization with odometry\imu\gps

image description

I dont know why the begin point away from the origin point from map-frame.

I have set the first gps point for datum.

my params of map and gps:

ekf_se_map:
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_footprint
  world_frame: map

  odom0: odom
  odom0_config: [false,  false,  false,
             false, false, false,
             true, true, true,
             false, false, true,
             false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false
  odom0_pose_rejection_threshold: 1
  odom0_twist_rejection_threshold: 1

  odom1: odometry/gps
  odom1_config: [true,  true,  false,
             false, false, false,
             false, false, false,
             false, false, false,
             false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: false
  odom1_differential: false
  odom1_relative: false
  # odom1_pose_rejection_threshold: 5

  imu0: imu
  imu0_config: [false, false, false,
            false, false,  true,
            false, false, false,
            true,  true,  true,
            true,  true,  true]
  imu0_nodelay: true
  imu0_differential: false
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true
  imu0_pose_rejection_threshold: 0.8
  imu0_twist_rejection_threshold: 0.8
  imu0_linear_acceleration_rejection_threshold: 0.8

  use_control: false

  process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,


                     0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]

      initial_estimate_covariance: [1.0,  0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    1.0,  0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    1e-9, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    0,    1e-9, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    0,    0,    1e-9, 0,    0,    0,     0,     0,     0 ...
(more)
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2018-09-14 17:37:08 -0500 marked best answer when I launch a sweep scan launchfile, failed 
$ roslaunch sweep_ros sweep2scan.launch 


[ERROR] [1510555966.860890582]: Skipping XML Document "/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.

I dont know why.
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2018-09-12 21:04:14 -0500 asked a question what kind of wheel encoder for vehicle supporting ROS?

what kind of wheel encoder for vehicle supporting ROS? I need a wheel encoder for automatic drive car but I can`t find a
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2018-05-13 04:47:14 -0500 commented answer amcl---Inaccurate positioning

thank for your answer. I want to know ,what means about 'laser_z_hit' and 'laser_z_rand'?

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2018-05-11 05:00:58 -0500 edited question amcl---Inaccurate positioning

amcl---Inaccurate positioning when I use amcl package, the location is inaccurate. why? I guess: the pose from odom
2018-05-11 05:00:28 -0500 edited question amcl---Inaccurate positioning

amcl---Inaccurate positioning when I use amcl package, the location is inaccurate. why? I guess: 1. the pose from odom-t
2018-05-11 04:59:45 -0500 asked a question amcl---Inaccurate positioning

amcl---Inaccurate positioning when I use amcl package, the location is inaccurate. why? I guess: 1. the pose from odom-t
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2018-01-07 11:13:53 -0500 marked best answer I wantna publish a initialpose to AMCL, but error~

I try to write a node for publish a msg to initialpose topic, but error

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 244 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "odom" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 257 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

my code:

#include <ros/ros.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

int main (int argc, char** argv) 
{
    ros::init(argc, argv, "initialpose_pub");
    ros::NodeHandle nh_;
    ros::Publisher initPosePub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>("initialpose", 2, true);
ros::Rate rate(1.0);
while(nh_.ok()) 
{
    //get time
    ros::Time scanTime_ = ros::Time::now();     
    //create msg
    geometry_msgs::PoseWithCovarianceStamped initPose_;
    //create the time & frame
    initPose_.header.stamp = scanTime_;
    initPose_.header.frame_id = "map";
    //position
    initPose_.pose.pose.position.x = 0.f;
    initPose_.pose.pose.position.y = 0.f;
    //angle
    initPose_.pose.pose.orientation.z = 0.f;
    //publish msg
    initPosePub_.publish(initPose_);
    //sleep
    rate.sleep();
}
return 0;
}

I don't know why.
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2017-12-28 01:53:01 -0500 asked a question how to clear local cost map?

how to clear local cost map? I use sonar-layer in my local cost map, but I cant clear the layer. local_costmap: globa
2017-12-20 07:51:13 -0500 asked a question How to change costmap orientation-z ?

How to change costmap orientation-z ? I have changed my map.yaml params. image: /home/jason/catkin_ws/src/robot_localiz
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2017-11-28 03:17:27 -0500 marked best answer how can I use google map on rviz?

I have use robot_localization with gps/imu/odometry.

but I need add a outdoor map on rviz.

map_server need a map(type of pgm) and yaml.

I need a google map type of pgm.

I have no idea.
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