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2023-04-26 09:49:57 -0500 received badge  Student (source)
2020-09-16 05:31:40 -0500 marked best answer How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

Dear all,

I am trying to use Robot Navigation DWBLocalPlanner in Move_Base_Flex, but I am having troubles in configuring local_costmap.yaml. In order to use the costmap layers it is need to load the CostmapAdapter interface so the costmap layers are loaded in DWB namespace. Is this loaded as a layer-like plugin under local_costmap which will automatically point to DWB or shall it be configured a new namespace? Shall it be enhanced with costmap_queue?

Running under Ubuntu 18.04 ROS melodic.

Here is the configuration that I am following:

local_costmap:

  width: 9.0
  height: 9.0
  resolution: 0.05

  static_map: false
  rolling_window: true
  global_frame: map
  robot_base_frame: base_link

  update_frequency: 25.0
  publish_frequency: 5.0


  map_type: costmap
  obstacle_range: 4.5
  raytrace_range: 4.5

  publish_voxel_map: false
  transform_tolerance: 0.5
  meter_scoring: true

  footprint: [[-0.51, -0.52], [-0.51, 0.52], [0.79, 0.42], [0.79, -0.42]]
  footprint_padding: 0.15

  plugins:
    # - {name: static_layer, type: "costmap_2d::StaticLayer"}
    - {name: costmap_ros , type: "nav_core_adapter::CostmapAdapter"}
    - {name: laser_horizontal_layer, type: "costmap_2d::ObstacleLayer"}
    # - {name: rgbd_layer, type: "costmap_2d::ObstacleLayer"}
    - {name: laser_cliff_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

Thanks in advance.

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2020-01-27 15:23:55 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

I have a configuration file for the local planners.Where I set the 'name' and 'type' of BaseLocalPlanner and using the n

2020-01-27 15:23:33 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

I have a configuration file for the local planners.Where I set the 'name' and 'type' of BaseLocalPlanner and using the n

2020-01-27 15:23:01 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

I have a configuration file for the local planners.Where I set the 'name' and 'type' of BaseLocalPlanner and using the n

2020-01-27 15:22:49 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

I have a configuration file for the local planners.Where I set the 'name' and 'type' of BaseLocalPlanner and using the n

2020-01-27 15:20:18 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

I have a configuration file for the local planners.Where I set the 'name' and 'type' of BaseLocalPlanner and using the n

2020-01-25 07:43:36 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

DWB planner is working fine. But is not able to load the local costmap, so dynamic obstacles in the path are not avoided

2020-01-25 07:26:15 -0500 commented question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

DWB planner is working fine. But is not able to load the local costmap, so dynamic obstacles in the path are not avoided

2020-01-25 07:13:03 -0500 received badge  Popular Question (source)
2020-01-23 03:25:43 -0500 commented answer How to use the DWB local planner

Sorry, I thought it was highly related. Here you go :) https://answers.ros.org/question/341513/how-to-configure-local_co

2020-01-16 06:08:14 -0500 received badge  Enthusiast
2020-01-11 07:18:29 -0500 asked a question How to configure local_costmap.yaml to use CostmapAdapter in DWB planner

How to configure local_costmap.yaml to use CostmapAdapter in DWB planner Dear all, I am trying to use Robot Navigation

2020-01-07 07:58:30 -0500 commented answer How to use the DWB local planner

Hi, could you please extend how to modify local_costmap_params.yaml. Is not clear for me which namespace should be used