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2020-02-03 05:10:10 -0500 answered a question How to make roscd go to ~/catkin_ws/devel instead of /opt/ros/kinetic?

I encountered this problem, and the other two answers are not correct in my opinion. If you take a look at this tutortia

2020-01-28 05:05:33 -0500 marked best answer Local costmap not showing obstacles

Hello,

I'm using move_base package to navigate my robot.
The navigation seems to work, however no obstacles are detected.
The local costmap only shows the static layer, but not the obstacle_layer and inflater_layer.
The image below shows the RVIZ screenshot with the local costmap enabled. At the time the screenshot was taken, there were actually multiple large obstacles in the room. The pink colored drawings are the local costmap, but when I disable the static layer, the whole local costmap is empty.

RVIZ screenshot

Here are my costmap param files:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.165, -0.170], [0.165, -0.170], [0.165, 0.170], [-0.165, 0.170]]
publish_voxel_map: true
meter_scoring: true

global_costmap_params.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true

  inflater_layer:
    inflation_radius: 0.2
    cost_scaling_factor: 0.5

  plugins:
  - {name: static_layer, type: "costmap_2d::StaticLayer"}
  - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  width: 3.0
  height: 3.0
  rolling_window: true

  plugins:
  - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
  - {name: inflater_layer, type: "costmap_2d::InflationLayer"}
  - {name: static_layer, type: "costmap_2d::StaticLayer"}

  inflater_layer:
    inflation_radius: 0.35
    cost_scaling_factor: 0.5


  obstacle_layer:
    observation_sources: laser_scan_sensor
    laser_scan_sensor: {sensor_frame: laser_frame, 
data_type: LaserScan, 
topic: scan, marking: true, 
clearing: true, 
max_obstacle_height: 3, 
min_obstacle_height: -3, 
inf_is_valid: true, 
obstacle_range: 2.5, 
combination_method: 0,
raytrace_range: 3}

Does anyone know why I can't see any live obstacles?

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2020-01-23 10:30:39 -0500 asked a question Local costmap not showing obstacles

Local costmap not showing obstacles Hello, I'm using move_base package to navigate my robot. The navigation seems to w

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2019-12-17 11:03:19 -0500 marked best answer Move base navigation malfunctions

Hi all,

I am developing a diff wheel autonomous robot using the move_base package. I use wheel encoders, a lidar sensor and AMCL to estimate the current pose. When I set a simple goal, 1 meter to the right of the initial pose which I manually set, the global plan of NavfnRos seems fine. However the local plan deviates from this plan, which causes the robot not to get to its goal. See the screenshot below. image description You see the upper green line is the path as retrieved from topic /move_base/TrajectoryPlannerROS/local_plan.
The other green line is the path as retrieved from topic /move_base/NavfnROS/plan. The rectangle is the robot's footprint, and the attached arrow the current pose.
Lastly, the lower arrow is the goal pose.

My question is: why does the local plan diverge from the global plan? It would make a lot more sense if the local plan would turn right instead of left.
Any help would be appreciated!

EDIT Here is an RVIZ capture video where you see the behaviour of the local path: https://www.youtube.com/watch?v=oYihWi8htt0

Thanks in advance, Simon

2019-12-17 05:07:06 -0500 edited question Move base navigation malfunctions

Move base navigation malfunctions Hi all, I am developing a diff wheel autonomous robot using the move_base package. I

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2019-12-17 04:46:19 -0500 commented answer Problem with local planner using navigation stack

Hi, I am having the same problem as you described: "when I send a goal to navigation stack the global path is fine, but

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2019-12-12 15:57:24 -0500 commented answer Move base navigation malfunctions

Thanks for your answer! I changed my image link, hope it works now. Just to point something out: the robot does not only

2019-12-12 15:54:54 -0500 edited question Move base navigation malfunctions

Move base navigation malfunctions Hi all, I am developing a diff wheel autonomous robot using the move_base package. I

2019-12-12 10:27:55 -0500 asked a question Move base navigation malfunctions

Move base navigation malfunctions Hi all, I am developing a diff wheel autonomous robot using the move_base package. I

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2019-11-20 06:14:48 -0500 asked a question Fixing yaw keeps overshooting

Fixing yaw keeps overshooting Hello, I'm building a 4-wheeled skid steering robot. Currently I'm implementing the funct