As an additional feature to my navigation stack, I'd like to add social_navigation_layers (http://wiki.ros.org/social_navigation_layers) to my local costmap, to distinguish between obstacles and humans. This should add extra inflation to the local costmap, such that my teb local planner better can navigate in the environment. For this I'm trying to specify layers of both the global and local costmap in the form of plugins as specified by this tutorial: http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps.
The problem I'm facing is, that when specifying any plugin (including default) for my local costmap, the local costmap disappears from RViz and the topic /move_base/local_costmap/costmap returns only zero's. This ruins my navigation. If I comment out all plugins in the local costmap then everything works fine, besides that the social_navigation_layers won't be used. Specifying any and all plugins for the global costmap, then this seems to work fine. Using 'rosparam get' I can see, that the plugins are used for both the local and global costmap, despite it not working for the local costmap. If I do not specify any plugins for the local costmap then pre-Hydro parameters will be used, indicated by a warning in the terminal
Currently I'm running Melodic (Ubuntu 18.04), but I've also tested this on Kinetic (Ubuntu 16.04) with the same issue.
Picture of missing costmap. The small curved green line represents parts of an obstacle detected by the laser scanner and shown through teb markers.
UPDATE 1: Added .yaml files, and warning with pre-Hydro parameters.
UPDATE 2: Changed local_costmap.yaml to the way I want them to be, added output of 'rosparam get' and picture of missing costmap from RViz.
costmap_common.yaml
# Common settings for costmaps
# May be overwritten in specific global and local costmap files
# Robot Footprint Parameters
#footprint: [[0.55,0.5],[0.55,-0.5],[-0.55,-0.5],[-0.55,0.5]] #Square robot
#footprint_padding: 0.01
robot_radius: 0.55 # Circular robot
# inflation_radius: 0.35
# Global Filtering Parameters
obstacle_range: 7
raytrace_range: 4.0
costmap_global.yaml
global_costmap:
# Coordinate frame and tf parameters
global_frame: map # Test with /map as per documentation
robot_base_frame: base_link
transform_tolerance: 1.5
# Rate parameters
update_frequency: 0.5
# publish_frequency: 1.0
# Map management parameters
rolling_window: false
static_map: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacles_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
# Layer Definitions
static_layer:
map_topic: /map
subscribe_to_updates: true
inflation_layer:
# cost_scaling_factor: 10.0 # Default: 10.0
inflation_radius: 0.5
costmap_local.yaml
local_costmap:
# Coordinate frame and tf parameters
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 1.0
# Rate parameters
update_frequency: 10.0
publish_frequency: 10.0
# Map management parameters
static_map: false
rolling_window: true
width: 10 # The width of the map in meters. Default: 10
height: 10 # The height of the map in meters. Default: 10
resolution: 0.05 # The resolution of the map in meters/cell. Default: 0.05
plugins:
- {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: social_layer, type: "social_navigation_layers::ProxemicLayer"}
- {name: social_pass_layer, type: "social_navigation_layers::PassingLayer"}
# Layer Definitions
inflation_layer:
#cost_scaling_factor: 1.0 # Default: 10.0
inflation_radius: 1.08
rosparam get /move_base/global_costmap
footprint: '[]'
footprint_padding: 0.01
global_frame: map
height: 10
inflation_layer: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
inflation_radius: 0.5}
obstacle_range: 7
obstacles_layer: {combination_method: 1, enabled: true, footprint_clearing_enabled: true,
mark_threshold: 0, max_obstacle_height: 2.0, origin_z: 0.0, unknown_threshold: 15,
z_resolution: 0.2, z_voxels: 10}
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacles_layer, type: 'costmap_2d::VoxelLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
publish_frequency: 0.0
raytrace_range: 4.0
resolution: 0.05
robot_base_frame: base_link
robot_radius: 0.55
rolling_window: false
static_layer: {enabled: true, map_topic: /map, subscribe_to_updates: true}
static_map: true
transform_tolerance: 1.5
update_frequency: 0.5
width: 10
rosparam get /move_base/local_costmap
footprint: '[]'
footprint_padding: 0.01
global_frame: odom
height: 10
inflation_layer: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
inflation_radius: 1.08}
laser_scanner: {clearing: true, data_type: LaserScan, expected_update_rate: 9.0, marking: true,
sensor_frame: scan_combined, topic: /laser_unified/scan}
observation_sources: laser_scanner
obstacle_range: 7
obstacles_layer: {combination_method: 1, enabled: true, footprint_clearing_enabled: true,
max_obstacle_height: 2.0, obstacle_range: 7, raytrace_range: 4.0}
origin_x: 0.0
origin_y: 0.0
plugins:
- {name: obstacles_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
- {name: social_layer, type: 'social_navigation_layers::ProxemicLayer'}
- {name: social_pass_layer, type: 'social_navigation_layers::PassingLayer'}
publish_frequency: 10.0
raytrace_range: 4.0
resolution: 0.05
robot_base_frame: base_link
robot_radius: 0.55
rolling_window: true
social_layer: {amplitude: 77.0, covariance: 0.25, cutoff: 10.0, enabled: true, factor: 5.0,
keep_time: 0.75}
social_pass_layer: {amplitude: 77.0, covariance: 0.25, cutoff: 10.0, enabled: true,
factor: 5.0, keep_time: 0.75}
static_map: false
transform_tolerance: 1.0
update_frequency: 10.0
width: 10
Originally posted by KimJensen on ROS Answers with karma: 55 on 2020-04-08
Post score: 1
Original comments
Comment by gvdhoorn on 2020-04-08:\
I apparently don't have enough points to add pictures of my *_costmap_params.yaml files to this issue.
and that's a good thing, as .yaml files are simply text. There is no need to post screenshots of text.
Simply copy-paste it into your question, then select all the lines, press ctrl+k or the Preformatted Text button (ie: the one with 101010 on it).
As to your problem: YAML is very sensitive to indentation. Make sure to have consistent and correct indentation.
Comment by KimJensen on 2020-04-08:
Thank you for your response. I've updated the issue with the .yaml files.
I've focused on the indentation, so I think it should be correct.
Comment by David Lu on 2020-04-17:
Can you set the parameters the way you want them to be (i.e. uncomment the plugins) and then post the rosparam get / output.
Comment by KimJensen on 2020-04-20:
Thank you for your response. I've updated the issue with changes to the parameters, posted the output of rosparam get and inserted a picture of the missing obstacle.
Comment by David Lu on 2020-04-20:
Can you change it to the output of rosparam get /move_base/local_costmap?
Comment by KimJensen on 2020-04-21:
Yes of course. I've updated the issue with both local and global rosparam get /move_base/*_costmap
