Hi all, I've tried to launch costmap_2d node with this launch code:
<!-- Run the costmap node -->
<node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
<rosparam file="$(find costmap_2d)/launch/params.yaml" command="load" ns="costmap" />
<param name="/use_sim_time" value="false"/>
</node>
where params.yaml file contains this
costmap:
global_frame: /world
robot_base_frame: robot
transform_tolerance: 0.8
update_frequency: 5.0
publish_frequency: 0.0
#set if you want the voxel map published
publish_voxel_map: true
#set to true if you want to initialize the costmap from a static map
static_map: false
#begin - COMMENT these lines if you set static_map to true
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.025
#end - COMMENT these lines if you set static_map to true
#START VOXEL STUFF
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
#END VOXEL STUFF
#The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters.
#This can be over-ridden on a per-sensor basis.
obstacle_range: 2.5
#The maximum height of any obstacle to be inserted into the costmap in meters.
#This parameter should be set to be slightly higher than the height of your robot.
max_obstacle_height: 2.0
#The default range in meters at which to raytrace out obstacles from the map using sensor data.
#This can be over-ridden on a per-sensor basis.
raytrace_range: 3.0
#The footprint of the robot specified in the robot_base_frame coordinate frame as a list
footprint: [[-0.20, -0.25], [-0.20, 0.25], [0.20, 0.25], [0.20, -0.25]]
footprint_padding: 0.05
#The radius in meters to which the map inflates obstacle cost values.
inflation_radius: 0.55
#A scaling factor to apply to cost values during inflation.
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
#A list of observation source names separated by spaces.
#This defines each of the <source_name> namespaces defined below.
observation_sources: cloud
cloud: {
topic: /cloud,
#The data type associated with the topic, right now only "PointCloud", "PointCloud2", and "LaserScan" are supported.
data_type: PointCloud2,
#How often to expect a reading from a sensor in seconds.
expected_update_rate: 0.4,
#How long to keep each sensor reading in seconds.
observation_persistence: 0.0,
#Whether or not this observation should be used to mark obstacles.
marking: true,
#Whether or not this observation should be used to clear out freespace.
clearing: true,
#The maximum height in meters of a sensor reading considered valid.
max_obstacle_height: 3.4,
#The minimum height in meters of a sensor reading considered valid.
min_obstacle_height: 0.08,
#The maximum range in meters at which to insert obstacles into the costmap using sensor data.
obstacle_range: 4.0
}
but anything is published (even if /cloud topic contains data). It seems that yaml file hasn't read correctly... What is it wrong?
Thanks in advance
Originally posted by daddy1988 on ROS Answers with karma: 21 on 2013-01-15
Post score: 2
Original comments
Comment by joq on 2013-01-15:
You can use the rosparam command to verify whether the parameter values are set as expected.
Comment by moyashi on 2013-01-29:
Could you show me the result of "rosparam list"? And you can verify the values with "rosparam get ****" so please try it.
Comment by moyashi on 2013-01-29:
Could you show me the result of "rosparam list"?