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Hi all,

Sometimes my local costmap does not inflate all obstacles. It marks everything that it should as LETHAL, but then doesn't mark some of the cells around the lethal cells. Picture attached for reference.

image description

Might this be a bug in the inflation_layer? I've used dynamic_reconfigure to play with my costmap settings and nothing has helped it.

ROS Indigo standard navigation stack


Originally posted by Robocop87 on ROS Answers with karma: 255 on 2016-05-02

Post score: 0


Original comments

Comment by robustify on 2016-05-02:
Can you post the YAML files you used to configure the costmaps, as well as the relevant launch files?

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Hi all,

The problem was the ordering of the plugins. If the inflation_layer plugin gets loaded before the obstacle_layer plugin, you get the above behavior. Loading the obstacle layer first solves this problem.


Originally posted by Robocop87 with karma: 255 on 2016-05-03

This answer was ACCEPTED on the original site

Post score: 2

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