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Hi all,

I configured move_base to include an additional layer produced by a PointCloud2:

Observation Source:

yellow_tape_layer:
  observation_sources: barrier_tape_detection_scan
  barrier_tape_detection_scan:
      #sensor_frame: camera_rgb_optical_frame
      data_type: PointCloud2
      topic: /barrier_tape_detection_scan
      observation_persistence: 100.0
      marking: true
      clearing: false
      min_obstacle_height: -2.0
      max_obstacle_height: 2.0

The point cloud shows correctly in rviz, transformations etc. are fine.

Note that I tried to manually set the sensor_frame as well - every second point cloud is published in another frame, which is why I tried to avoid that option - but neither case works. I even increased the observation_persistence, hoping that it would just ignore observations happening too quickly.

In general, I copied the configuration from out laser scanners producing the obstacle_layer: enabling the layer in global and local costmap:

   plugins:
    - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
    - {name: yellow_tape_layer,          type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}

...

yellow_tape_layer:
  enabled:              true
  max_obstacle_height:  2.0
  origin_z:             0.0
  z_resolution:         2
  z_voxels:             1
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true
  obstacle_range: 2.5
  raytrace_range: 3.0
  publish_voxel_map: true

Which is why I assumed it to work - however, no matter the sensory input, nothing shows in the costmap visualized in rviz. (//edit: I also set combination_method for the laser to 1, of course.)

On startup, move_base happily greets me and says it's going to listen on "barrier_tape_detection_scan" - no leading slash - but it does the same for the lasers, also dropping the slash there. As I said, there are certainly points published and I can visualize them in rviz, yet they never appear in the costmap.

Anything else I can try? Should I post a rosbag/all config files?

ROS Indigo, Ubuntu 14.04 (old, but no time to upgrade...)

Mea culpa. It turned out it worked from the beginning, it's just that the costmap is only initialized and viewed when t

Custom layer not showing on Costmap2D Hi all, I configured move_base to include an additional layer produced by a Point