cdeste's profile - activity

Thanks. I can now seem to clear the area in the local costmap, but the obstacle is still present in the global map. It doesn't seem to matter which map I load the layer into with the yaml file. Do you have any recommendations as to appropriate plugin layers for the two costmaps?

The robot only has a planar laser and it is identifying traversable objects as obstacles in an outdoor environment.

When you say derive the layer - do you mean inherit from those layer classes? Would this mean there would be two obstacle layers?

I added to the updateBounds function the code below, but the obstacle is still there.

if(worldToMap(x, y, mx, my)) { setCost(mx, my, NO_INFORMATION);
}

Could it be a problem using x,y coordinates that are already in 'map' coordinates? Do I need to specify this somewhere?

The updateBounds function does not pass in the master grid like updateCosts does. How can I access the grid in this function?

I am using the camera to determine if objects the laser believes to be obstacles are in fact traversable. So the decision to update the cost is coming from another image processing node. Perhaps I need to update the obstacle layer directly? If so, then how?

So would the configuration above block the obstacle layer? If so, could it be that it is not happening at the correct location? I have an x,y already in the map frame, and am concerned that the worldToMap might not be appropriate.

I have added my updateCosts function. I did just use the tutorial as an example.

Hi David, I have added the xml and yaml files. Is that all you need?

I'm trying to remove obstacles that are being detected with the laser and mark them as free space. Using a layer I am able to create obstacles that are included in the global costmap, but I don't seem to be able to remove them completely. I am guessing this is because of how the layers are merged - any lethal obstacle being added to the final costmap. Is there any way I can remove obstacles from the obstacle layer, or force free space from my layer to be dominant in the merging of layers?

xml file

<class_libraries>
  <library path="lib/libcustom_layer">
    <class type="custom_cost_namespace::CustomLayer" base_class_type="costmap_2d::Layer">
      <description>Obstacle adding and removing based on labels </description>
    </class>
  </library>
</class_libraries>

yaml file

plugins: 
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: custom_cost, type: 'custom_cost_namespace::CustomLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
publish_frequency: 1.0
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]

launch file

<rosparam file="$(find custom_cost)/config/custom_layer.yaml" command="load" ns="global_costmap" />

update costs method

void CustomLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
 min_j, int max_i, int max_j)
{
  if (!enabled_)
    return;

  if(master_grid.worldToMap(x, y, mx, my))
    {
    if (remove)
      master_grid.setCost(mx, my, FREE_SPACE);
    else
      master_grid.setCost(mx, my, LETHAL_OBSTACLE);
    }
}

I am looking for a small, but sturdy outdoor vehicle. It needs to operate in a wet and dirty environment for long periods. I need the width to be less than 240mm, but I am not concerned about the specific actuator. Available ROS stacks would be a big plus. Thanks.