Rosanswers logo

Hi, I was previously succesfully launching the default costmap_2d package that came with ROS hydro, Ubuntu 12.04, using the following launch file and yaml parameters file:

Parameters file: global_frame: /map robot_base_frame: base_link

rolling_window: false width: 20.0 height: 20.0 resolution: 0.05

footprint: [[-0.325, -0.20], [-0.325, 0.20], [0.325, 0.20], [0.34, 0.0], [0.325, -0.20]]


  • {name: obstacles, type: "costmap_2d::ObstacleLayer"}

publish_frequency: 15.0 update_frequency: 15.0

obstacles: track_unkown_space: false observation_sources: optfl_replNaN_point_cloud optfl_replNaN_point_cloud: {data_type: PointCloud2, topic: /projected_cloud_prev, sensor_frame: /base_link, clearing: true, marking: true, max_obstacle_height: 20, min_obstacle_height: 0, obstacle_range: 20, raytrace_range: 25, expected_update_rate: 0}

Now I want to modify the source code, I could not find it in /opt/ros any folder, so I cloned the navigation stack from git into a local folder, built it from source and running it using the same launch file and params file. However, there is no topic being published and the ROS_INFO message " Subscribed to Topics:" is also not being shown on screen(my output type is "screen"). I have tried changing the namespace to "costmap_node/costmap" but no help.

Please help!!!

Originally posted by Ishani Chatterjee on ROS Answers with karma: 26 on 2015-07-13

Post score: 0


1 Answer 1


Rosanswers logo

OK I found the answer, in the CMakeLists.txt of the costmap_2d package, in all the target_link_libraries of the executables, $catkin_LIBRARIES are not added in the git source code. I had to add ${catkin_LIBRARIES} in each target_link_libraries and it started working!!!

Originally posted by Ishani Chatterjee with karma: 26 on 2015-07-15

This answer was ACCEPTED on the original site

Post score: 1


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.