I am attempting to run the move_base node in the ROS navigation stack package. I ran this in simulation on Gazebo and thought that it worked correctly but evidently not. I am running into an issue where things are not added to my local costmap from the LiDAR data even though it is visualize-able in Rviz. I have attached a [bag file](https://drive.google.com/file/d/1Icvcmlbfiu5IayUJMydyHYEXO6tPNAFP/view?usp=sharing) where I bring my robot into a known environment, set a pose in Rviz, and give a navigation goal. Note that the robot does not move because the motor driving node was not active.
I am under the impression that the costmap should turn dark where there is an obstacle but mine is not behaving like that. The robot navigates without adding anything to the costmap.
Below are the .yaml configuation files:
base_local_planner:
controller_frequency: 5.0
TrajectoryPlannerROS:
max_vel_x: 1.0
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.25
acc_lim_theta: 3.0
acc_lim_x: 3.0
acc_lim_y: 0
escape_vel: -2.0
holonomic_robot: false
# Parameters for a simulation
sim_time: 1.0
sim_granularity: 0.02
angular_sim_granularity: 0.02
dwa: true
meter_scoring: true
costmap_common_params
obstacle_range: 0.25 # the maximum distance without updating the costmap
raytrace_range: 1.5 # the range to which the robot will attempt to clear in front of itself
footprint: [[-0.47, 0.47], [0.47, 0.47], [0.47, -0.47], [-0.47, -0.47]] # simple box configuration
#robot_radius: ir_of_robot
inflation_radius: 0.25 # 25 centemeters away from the robot - minimum distance away from an obsticle
min_obstacle_height: 0.0
max_obstacle_height: 10.0
publish_frequency: 10.0
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 5.0
max_obstacle_height: 20.0 # 2.0 m set to higher than flight height
min_obstacle_height: -20.0 # set just below flight height
inflation_radius: 0.7
track_unknown_space: true
combination_method: 1
observation_sources: LiDAR_scan
LiDAR_scan: {data_type: LaserScan, sensor_frame: /scan, clearing: true, marking: true, topic: /scan, inf_is_valid: false}
global_costmap_params
global_costmap:
global_frame: /map # defines what coordinate frame the costmap should run in
robot_base_frame: /base_footprint # the coordinate frame the robot should reference as the base of the bot
update_frequency: 1.0 # (Hz)
publish_frequency: 1.0
static_map: true # should the costmap initialize itself based on a map served by the map_server.
# Put this to false if there is not a static map of if there is no map at all
#resolution: 0.1
transform_tolerance: 10.0
#map_type: costmap
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
#width: 200
#height: 200
#resolution: 0.5
local_costmap_params
local_costmap:
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0 # (Hz)
publish_frequency: 2.0 # (Hz)
static_map: false
rolling_window: true # Setting to true means that the costmap will remain centered around the robot as it moves around the world
width: 5.0
height: 5.0
resolution: 0.1
# These three set the width, height, and resolution of the costmap. Should (but do not have to be) the same as the static map
transform_tolerance: 10.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
Any help is appreciated!
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