Fedor's profile - activity

Neither Grid/MaxDepth nor Grid/RangeMax haven't changed cut up distance - maybe problem somewhere else. I have added rta

Neither Grid/MaxDepth nor Grid/RangeMax haven't changed cut up distance - maybe problem somewhere else. I have added rta

Neither MaxDepth nor RangeMax haven't changed cut up distance - maybe problem somewhere else. I have added rtabmap_ros/o

Hi everyone! I am trying to use navigation stack on quadcopter equipped with kinect sensor at Gazebo simulation. I am using grid_map topic of rtabmap_ros package as map for navigation of UAV which hovers at 1.5 m over ground. But global_costmap and local_costmap both show free space on proj_map as obstacles (proj_map, global_costmap). How can I fix it?

Costmap common params:

footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
inflation_radius: 0.65
cost_scaling_factor: 10.0

obstacle_layer:
  obstacle_range: 5.5
  raytrace_range: 6.0
  max_obstacle_height: 0.7
  track_unknown_space: true

  observation_sources: point_cloud_sensor
  point_cloud_sensor: {
    sensor_frame: quad/camera__link,
    data_type: PointCloud2,
    topic: /quad/camera_/depth/points,
    marking: true,
    clearing: true
  }

Global costmap params:

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 1.0
  publish_frequency: 1.0
  static_map: false
  plugins:
     - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

Local costmap params:

local_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.02
  tranform_tolerance: 0.5
  planner_frequency: 1.0
  planner_patiente: 5.0
  plugins:
     - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

I deleted parameter Vis/MaxDepth and added Grid/RangeMax with a value of 9, but cloud is still being cut up to 4 meters.

Speaking about grid_map: I deleted parameter Vis/MaxDepth and added Grid/RangeMax with a value of 9, but cloud is still

Speaking about grid_map: I deleted parameter Vis/MaxDepth and added Grid/RangeMax with a value of 9, but cloud is still

Thank you for answer. So, my issue is related to costmaps: global and local costmaps show free space at grid_map as obst

Sure. Screenshot of the Gazebo environment, rtabmap.db

Costmap shows free space as obstacles Hi everyone! I am trying to use navigation stack on quadcopter equipped with kinec

Costmap shows free space as obstacle Hi everyone! I am trying to use navigation stack on quadrotor equipped with kinect

Thank you, I will write a node. But I don't understand why does /odom node is published by Gazebo? There is no odom publ

launch-file and robot's xacro-file. Is it enough?

.launch file and robot's xacro-file

/odom node is published by /gazebo with header.frame_id = odom, child_frame_id = base_link. How can I change child_frame

No transform to fixed frame [odom] I have launched Gazebo with URDF model of wheeled robot. Robot and joint state publis