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We set global_frame for different nodes of the NavStack. Below are the ones I am eager to know about and how they affect the system.

Costmap params:

/global_costmap/global_frame: map vs odom
/local_costmap/local_frame: map vs odom

planner params:

/DWAPlannerROS/global_frame_id: map vs odom
/GlobalPlanner/global_frame_id: map vs odom

refer to the comments for answe.

Hi @skpro19, It totally makes sense now and even answers my question. So basically if we do not have a external grid_ma

Hi @skpro19, It totally makes sense now and even answers my question. So basically if we do not have a external grid_ma

Hi @skpro19, It totally makes sense now and even answers my question. So basically if we do not have a external grid_ma

Hi @skpro19

Thanks for response @skpro19 . I load the map obtained from gmapping using map_server package. what do you mean by ex

@skpro19 Thanks for response. I load the map obtained from gmapping using map_server package. what do you mean by ext

what difference does it make in NavStack(move_base) with frame_id as map vs odom We set global_frame for different nodes

what difference does it make in NavStack(move_base) with frame_id as map vs odom We set global_frame for different nodes

what difference does it make in NavStack(move_base) with frame_id as map vs odom We set global_frame for different nodes

what difference does it make in NavStack(move_base) with frame_id as map vs odom We set global_frame for different nodes

I have experienced this with amcl as well.

I think the question here is how do use NavStack's 2d path planning (NavFn or DWA) on 3d slam maps generated by cartogra

Hi @M@t, Can you please suggest how to integrate 3D slam algorithms like cartographer or hdl_graph_slam with NavStack fo

increase your max laser range, if most of the features/walls are outside maxRange param in the gmapping, then I get this

@DesperateCookie I am working on the same problem. Is it possible for you to share your code? Thanks

how to link two different maps in slamtoolbox Hello all, I am using slam toolbox for mapping an indoor warehouse and th

good local planner/controllers for accurately following the global trajectory with obstacle avoidance [closed] For my ap

good local planner/controllers for accurately following the global trajectory with obstacle avoidance [closed] For my ap

good local planner/controllers for accurately following the global trajectory with obstacle avoidance For my application

what is the standard way to get the quality of the obtained pose from slam_toolbox? How to get an accuracy metric of the

I use the below yaml for getting the map using the map_server package. I changed the yaw in the origin tag of the original yaml to -0.102.

map_zone.yaml
image: map_zone.pgm
resolution: 0.050000 
origin: [-17.000000, -17.000000, 0.0]   #### OLD
origin: [-17.000000, -17.000000, -0.102000] 
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

This change resulted into weird costmap. Please help. My setup is a typical ros navstack using move_base. this also affects amcl slam as localization is way off.

I have already played around with /initial_pose. the setup works fine if i do not change the yaw in the map.yaml file.

with original yaw=0.0

with yaw = -0.0102 (/upfiles/16046623663103974.png)

@miura can you point me how to change map_zone.pgm? Are any opensource tools available?

after changing the yaw in the map.yaml, costmap does not take that yaw. I use the below yaml for getting the map using t

after changing the yaw in the map.yaml, costmap does not take that yaw. I use the below yaml for getting the map using t

after changing the yaw in the map.yaml, costmap does not take that yaw. I use the below yaml for getting the map using t

@Yehor @Dragonslayer How do you get such large local plan paths (thin long magenta lines). My DWA setup gives me short

@Yehor @Dragonslayer How do you get such large local plan paths (thin long magenta lines). My DWA setup gives me short

can you post your params?

first setup dwa and navstack (movebase) to accept single goal and make it working. Then use waypoint navigation package

Use move_base package (also called as ROS Navigation stack). you will specifically use costmap2d package to supply grid

facing same scenario. Still debugging it.

you can also just uninstall the unnecessary image_transport pluggins like: sudo apt-get remove ros-melodic-theora-image