Hi, I am using ROS navigation stack (move_base) in a custom mobile robot. The robot uses a computer with Ubuntu 18.04.2 LTS and ROS Melodic (1.14.3). I am using a rgbd camera and a ultrasonic sensor.
When I setup to use plugin **range_sensor_layer** a warning appears in navigation launch log.
The warning is **"Illegal bounds change, ... The offending layer is local_costmap/inflation_layer".**
Does anybody know why this warning appears? What means this warning?
**When I disable the range_sensor_layer, the warning disappears.**
The topic that receives the range_sensor data is working good.
global_costmap_params.yaml:
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 0.5
publish_frequency: 0.5
static_map: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap_params.yaml:
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 2.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.025
origin_x: -2.0
origin_y: -2.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
costmap_common_params.yaml:
footprint: [[0.095, -0.202], [-0.095, -0.202], [-0.310, -0.165], [-0.310, 0.165], [-0.095, 0.202], [0.095, 0.202]]
footprint_padding: 0.025
#layer definitions
obstacle_layer:
obstacle_range: 3.5
raytrace_range: 4.0
observation_sources: point_cloud_sensor
point_cloud_sensor: {
sensor_frame: camera_link,
data_type: PointCloud2,
topic: openni_points,
expected_update_rate: 0.5,
marking: true,
clearing: true,
min_obstacle_height: 0.0,
max_obstacle_height: 2.0,
origin_z: 0.0,
z_resolution: 0.05,
z_voxels: 40,
publish_voxel_map: true
}
sonar_layer:
ns: /robot/sensor/
topics: ['sonar_forward_left']
inflation_layer:
inflation_radius: 1.20
cost_scaling_factor: 2.58
transform_tolerance: 1
controller_patience: 2.0
NavfnROS:
allow_unknown: true
recovery_behaviors: [
{name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
]
conservative_clear:
reset_distance: 3.00
aggressive_clear:
reset_distance: 5.00
Log of my navigation launch with the warning: (partial)
...
[ INFO] [1560447863.203341245]: Using plugin "static_layer"
[ INFO] [1560447863.210058377]: Requesting the map...
[ INFO] [1560447863.412339590]: Resizing costmap to 279 X 208 at 0.050000 m/pix
[ INFO] [1560447863.512279360]: Received a 279 X 208 map at 0.050000 m/pix
[ INFO] [1560447863.515405260]: Using plugin "inflation_layer"
[ INFO] [1560447863.559205866]: Using plugin "obstacle_layer"
[ INFO] [1560447863.560737803]: Subscribed to Topics: point_cloud_sensor
[ INFO] [1560447863.597831479]: Using plugin "sonar_layer"
[ INFO] [1560447863.601549444]: local_costmap/sonar_layer: ALL as input_sensor_type given
[ INFO] [1560447863.605397302]: RangeSensorLayer: subscribed to topic /robot/sensor/sonar_forward_left
[ INFO] [1560447863.630871186]: Approximate time sync = true
[ INFO] [1560447863.652196595]: Using plugin "inflation_layer"
[ WARN] [1560447863.712530171]: Illegal bounds change, was [tl: (-179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, -179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000), br: (179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000, 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.000000)], but is now [tl: (-340282346638528859811704183484516925440.000000, -340282346638528859811704183484516925440.000000), br: (340282346638528859811704183484516925440.000000, 340282346638528859811704183484516925440.000000)]. The offending layer is local_costmap/inflation_layer
[ INFO] [1560447863.724870485]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1560447863.736285311]: Sim period is set to 0.20
...
I can navigate with the robot regardless of the warning message.
But **when I comment the line of range_sensor_layer plugin in local_costmap_params.yaml, the warning is not shown.**
local_costmap_params.yaml (with no warning):
...
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
#- {name: sonar_layer, type: "range_sensor_layer::RangeSensorLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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