dpetrini's profile - activity

I am new to the field, so this question might be obvious, but I wonder, why IMU is needed once I have GPS absolute position and odometry from robot?

If I have GPS coordinates and odometry, shouldn't be possible to create UTM coordinates?

hi @Weasfas, thanks for the answer, it clarifies the orientation issues. However my point was more high level in terms o

Please vote question for increase visibility and hopefully get an answer.

We need to see your configuration files. Please post the local, global and common costmaps yaml files in your question.

why navsat_transform_node needs imu? I am new to the field, so this question might be obvious, but I wonder, why IMU is

Hi,

Can someone shed some light on how to display lasercan obstacles for use in Navigation Stack (AMCL+MOVE_BASE, ubuntu 18.04, Melodic)?

I spent lots of time changing configurations and searching for answers but I can't figure out how to consider obstacles detected by lasercan as in this image:

https://drive.google.com/open?id=1Wxa...

In the image there is an obstacle (pointed in RED) as detected by laserscan but is not marked as obstacle by local map.

However if I change common costmap file and remove "plugins" section going back to pre-Hidro parameters it is showed as image below.

https://drive.google.com/open?id=1rub...

Hera are my relevant config files:

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0

footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
inflation_radius: 0.30  # max. distance from an obstacle at which costs are incurred for planning paths.
cost_scaling_factor: 50  # exponential rate at which the obstacle cost drops off (default 10) 

observation_sources: scan

scan: {data_type: LaserScan, sensor_frame: base_link, topic: /zed/scan, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 0.50}

plugins: 
- {name: static_map,               type: "costmap_2d::StaticLayer"}
- {name: obstacle_2d_layer,   type: "costmap_2d::ObstacleLayer"}
- {name: inflation,                   type: "costmap_2d::InflationLayer"}

global_costmap_params.yaml

global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 1.0
#static_map: true
publish_frequency: 0.5
transform_tolerance: 1.0 
#resolution: 0.010

local_costmap_params.xml

local_costmap:
global_frame: odom  # odom DGPP
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 2.0
#static_map: false
rolling_window: true
width: 3.0
height: 3.0
resolution: 0.05
transform_tolerance: 1.0

As mentioned, if I just comment the plugin item with the three topics from costmap_common file it shows the obstacle. It also show some errors (not important) in terminal but shows the obstacle as second image above.

I am using TrajectoryPlannerROS (not DWA).

Can someone shed some light on how to display lasercan obstacle for use in Navigation Stack (AMCL+MOVE_BASE)?

Thank you,

In my configuration, costmap_common_params.xml is previously loaded with proper namespaces in top level launch file. So

In my configuration costmap_common_params.xml is previously loaded with proper namespaces in top level launch file. So i

I will answer my own question: After keep looking for answers and trying many combinations, I discover that is all abou

Local Map (navigation stack) not showing obstacle Hi, Can someone shed some light on how to display lasercan obstacles

Local Map (navigation stack) not showing obstacle Hi, Can someone shed some light on how to display lasercan obstacles

Local Map (navigation stack) not showing obstacle Hi, Can someone shed some light on how to display lasercan obstacles

Consider test "imu0_differential: true". I only get success after setting it to true.

Rosserial queue size X buffer size Hi, I am using Rosserial for arduino lib for ESP32 microcontroller. I am running ros

Rosserial queue size X buffer size Hi, I am using Rosserial for arduino lib for ESP32 microcontroller. I am running ros

rosserial queue size X buffer size Hi, I am using Rosserial for arduino lib for ESP32 microcontroller. I am running ros

Rosserial queue size X buffer size Hi, I am using Rosserial for arduino lib for ESP32 microcontroller. I am running ros

Could you please point what you fixed in CameraInfo? I have exact same problem. thanks