Hi there,
I used navigation stack wit move base on my lidar. It could generate path to the goal, and display global costmap, However, the local costmap is empty with zeros, while the lidar has data generated (non-zeros).
I searched around and people suggesting that the min. obstacle height and max. obstacle height of the laser scan is the problem, I tried it out, but it still doesn't work, could anyone kindly advise what I could change?
base_local_planner_params.yaml:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_vel_theta: 1.0
min_in_place_vel_theta: 0.4
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: false
costmap_common_params.yaml:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.305, -0.18], [-0.305, 0.18], [0.305, 0.18], [0.305, -0.18]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_sensor #point_cloud_sensor
laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}
#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
global_costmap_params.yaml:
global_costmap:
footprint: [[-0.305, -0.18], [-0.305, 0.18], [0.305, 0.18], [0.305, -0.18]]
footprint_padding: 0.01
transform_tolerance: 1.0
update_frequency: 5.0
publish_frequency: 5.0
global_frame: map
robot_base_frame: base_footprint
resolution: 0.05
rolling_window: false
track_unknown_space: true
plugins:
- {name: static, type: "costmap_2d::StaticLayer"}
- {name: sensor, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
static:
map_topic: /map
subscribe_to_updates: true
sensor:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation:
inflation_radius: 2.5
cost_scaling_factor: 6.0
local_costmap_params.yaml:
local_costmap:
footprint: [[-0.305, -0.18], [-0.305, 0.18], [0.305, 0.18], [0.305, -0.18]]
footprint_padding: 0.01
transform_tolerance: 1.0
update_frequency: 10.0
publish_frequency: 10.0
global_frame: /odom
robot_base_frame: /base_footprint
resolution: 0.05
static_map: false
rolling_window: true
width: 2.0
height: 2.0
resolution: 0.1
plugins:
- {name: sensor, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
sensor:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true, max_obstacle_height: 2.0, min_obstacle_height: 0.0, inf_is_valid: true}
inflation:
inflation_radius: 2.5
cost_scaling_factor: 8.0
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