Dear all,
I am using frontier_exploration+rtabmap slam+move_base for my robot autonomous exploration.
I have question about how costmap work?
Because when the slam algorithm do some mapping job.
(means map-> odom tf will be changed, and static map will rotate / shift I guess...)
(https://drive.google.com/file/d/0Bw2w48wxi6PLa3lMTi14cmpsY1U/view)
The static will rotate in the above picture.
But the costmap doesn't rotate to match the static.
It just add new inflation to costmap.
Does anyone how to make the costmap rotate with static map , or make the "old" costmap disappear?
common_costmap_params.yaml
# robot shape
robot_radius: 0.17
static_layer:
map_topic: /map
# first_map_only: false
# subscribe_to_updates: false
# track_unknown_space: true
# use_maximum: false
# lethal_cost_threshold: 100
# unknown_cost_value: -1
# trinary_costmap: true
obstacle_layer:
track_unknown_space: true
# transform_tolerance: 0.2
observation_sources: laser_scan_sensor
laser_scan_sensor:
topic: /center/laser_scan
# sensor_frame: "" # leave empty to read from sensor data
# observation_persistence: 0.0
# expected_update_rate: 0.0
data_type: LaserScan
# min_obstacle_height: 0.0
# max_obstacle_height: 2.0
inf_is_valid: true
clearing: true
marking: true
obstacle_range: 3.0 # laser_max_range
raytrace_range: 3.0 # laser_max_range
inflation_layer:
inflation_radius: 0.25
cost_scaling_factor: 0.0
global_costmap_params.yaml
global_costmap:
# global_frame: map
# robot_base_frame: base_link
# rolling_window: false
# track_unknown_space: false
# always_send_full_costmap: false
# pose_update_frequency: 10.0
update_frequency: 1.0 # 5
publish_frequency: 0.5 # 0
transform_tolerance: 0.5 # 0.3
# width: 10.0
# height: 10.0
# resolution: 0.05
# origin_x: 0
# origin_y: 0
plugins:
# WARNING!! This order of layers (s->o->i) cant not be change
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap_params.yaml
local_costmap:
global_frame: odom
# robot_base_frame: base_link
rolling_window: true
# track_unknown_space: false
# always_send_full_costmap: false
# pose_update_frequency: 10.0
update_frequency: 5.0 # 5
publish_frequency: 2.0 # 0
transform_tolerance: 0.5 # 0.3
width: 3.0
height: 3.0
resolution: 0.05
# origin_x: 0
# origin_y: 0
plugins:
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
inscribed_radius: 0.17
circumscribed_radius: 0.17
Originally posted by Jam on ROS Answers with karma: 77 on 2016-09-08
Post score: 0