Hi, I am trying to run a gmapping node but I keep getting the error "You must specify at least three points for the robot footprint, reverting to previous footprint." I am using a Turtlebot2 and my robot_radius parameter in my /turtlebot_navigation/param/costmap_common_params.yaml file is set to 0.20. I even tried manually setting the footprint to a 0.4 x 0.4 square by setting "footprint: [[0.20, 0.20], [-0.20, 0.20], [-0.20, -0.20], [0.20, -0.20]]" in the same file but then I get the error "Footprint spec is empty, maybe missing call to setFootprint?"
Looking the rqt_console, the error is definitely generated from move_base. Here is my costmap_common_params.yaml:
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
# footprint: [[0.20, 0.20], [-0.20, 0.20], [-0.20, -0.20], [0.20, -0.20]]
map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 0.6
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: false #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
observation_sources: scan bump
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
↧