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Mike973
Mike973
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You should be using the static_layer plugin for the move_base Local Costmap, and it should be the first layer.

You must provide accurate frame_id info so that the spatial relationship between your data and the (global) map frame can be determined. Assuming you have rolling_window set to true, the local costmap code will use the robot's current map x,y position (not pose!) and the costmap dimensions to select a small region from yourthe larger-dimension grid data map you provide.

You should be using the static_layer plugin for the move_base Local Costmap, and it should be the first layer.

You must provide accurate frame_id info so that the spatial relationship between your data and the (global) map frame can be determined. Assuming you have rolling_window set to true, the local costmap code will use the robot's current map x,y position (not pose!) and the costmap dimensions to select a small region from your larger-dimension grid data.

You should be using the static_layer plugin for the move_base Local Costmap, and it should be the first layer.

You must provide accurate frame_id info so that the spatial relationship between your data and the (global) map frame can be determined. Assuming you have rolling_window set to true, the local costmap code will use the robot's current map x,y position (not pose!) and the costmap dimensions to select a small region from the larger map you provide.

Source Link
Mike973
Mike973
  • 1.2k
  • 1
  • 3
  • 17

You should be using the static_layer plugin for the move_base Local Costmap, and it should be the first layer.

You must provide accurate frame_id info so that the spatial relationship between your data and the (global) map frame can be determined. Assuming you have rolling_window set to true, the local costmap code will use the robot's current map x,y position (not pose!) and the costmap dimensions to select a small region from your larger-dimension grid data.