Problem with loading social navigation layer plugins on costmap

Question

Hello, I am currently using layered costmaps, specifically i am trying to use the social_navigation_layer as described here: http://wiki.ros.org/social_navigation_layers. The problem is that i can't figure it out what i do wrong; the plugin does not start. These are my .yaml files:

1. costmap_common_params.yaml

   obstacle_range: 2.5 raytrace_range: 5.0 footprint: [[0.36,0.0], [0.28, 0.24],[0, 0.36], [-0.47, 0.15], [-0.47,-0.15], [0.0,-0.36], [0.28,-0.24]]

   #robot_radius: ir_of_robot inflation_radius: 0.45 cost_scaling_factor: 10

   cost_factor: 0.8 neutral_cost: 50 lethal_cost: 253

   obstacle_layer: observation_sources: ale_scan ale_scan: {data_type: LaserScan, sensor_frame: /robot/frontLaser/MountFrame, clearing: true, marking: true, topic: /ale_scan}

2. global_costmap_params.yaml

   global_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 10.0 resolution: 0.05 static_map: true

   plugins: - {name: footprint_layer, type: "costmap_2d::FootprintLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer", output: "screen"} - {name: static_map, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer", output: "screen"} - {name: social_layer, type: "social_navigation_layers::ProxemicLayer", output: "screen"} - {name: social_pass_layer, type: "social_navigation_layers::PassingLayer", output: "screen"}

3. local_costmap_params.yaml

   local_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 10.0 publish_frequency: 10.0 rolling_window: true width: 6.0 height: 6.0 resolution: 0.05

   plugins: - {name: footprint_layer, type: "costmap_2d::FootprintLayer", output: "screen"} - {name: inflation_layer, type: "costmap_2d::InflationLayer", output: "screen"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer", output: "screen"} - {name: social_layer, type: "social_navigation_layers::ProxemicLayer", output: "screen"} - {name: social_pass_layer, type: "social_navigation_layers::PassingLayer", output: "screen"}

and this is the launch file:

<launch>
  <master auto="start"/>

  <arg name="map_file" default="$(find ale_coro)/launch/corridoio.yaml"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

<!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find ale_coro)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find ale_coro)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find ale_coro)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find ale_coro)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find ale_coro)/launch/base_local_planner_params.yaml" command="load" />
     </node>
</launch>

When i launch it, only the footprint, obstacles and inflation layers are loaded. When i try to find the parameters of the social_navigation_layer, there is no trace of them. For that reason when i use rviz, the person is tracked correctly but there is no effect of the proxemic or passing layer.

Can you guys help me, please?

Thank you!

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Originally posted by alefag on ROS Answers with karma: 3 on 2017-01-26

Post score: 0

Answer 1

I suspect that the plugins param is not under the correct namespace. Not sure why the other layers do get loaded though.

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Originally posted by spmaniato with karma: 1788 on 2017-01-26

This answer was ACCEPTED on the original site

Post score: 4

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Original comments

Comment by alefag on 2017-01-30:
Hi and thank you for the answer. I am sorry, but i'm starting programming with ros, so i ask you: how do i check o change the namespace? Thank you

Comment by spmaniato on 2017-01-30:
One way would be this: After launching everything, type rosparam list | grep plugins and visually inspect the path / namespace of the relevant parameters.

Comment by alefag on 2017-01-31:
I tried and i got: /costmap_node/costmap/plugins /move_base/global_costmap/plugins /move_base/local_costmap/plugins /move_base/plugins

Typing rosparam get /move_base/local_costmap/plugins , returns only two layers, the obstacle and the inflation layer, but there are no trace of others.

Comment by spmaniato on 2017-01-31:
That's what I suspected. In your two *_costmap_params.yaml, place plugins under global_costmap: and local_costmap:. Just like you've done with your other parameters. It's YAML, so indentation matters!

Comment by alefag on 2017-01-31:
Exactly that was the problem, thanks for your help!

Comment by spmaniato on 2017-01-31:
Glad I could help @alefag :-) Could you please click on the checkmark icon next to my answer, which will mark it as accepted? Thanks