Questions tagged [2dcostmap]

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3D LiDAR Data Inconsistency and Costmap Performance Optimization

I hope this message finds you well. I am currently engaged in a project utilizing a non-repetitive 3D LiDAR system, characterized by a Vertical Field of View (VFOV) of 52° to -7° and a Horizontal ...
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Poco exception = /home/msy/ros_ws/devel/lib//libgrid_layer.so: undefined symbol: _ZN2tf11Transformer18DEFAULT_CACHE_TIMEE

I wrote a custom costmap plugin. It can work on local costmap.The configuration is as follows: plugins: - {name: grid_layer, type: "simple_layer_namespace::GridLayer"} - {name: ...
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Robot and sensor are out of map bounds (Local Costmap- Voxel Layer)

Hi I am at this step footprint step of tutorial of NAV2. However I am configuring for my specific robot. Given that I have different dimensions, range for lidar and map size, I have configured ...
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How to have more than 1 of the same sensor types in obstacle layer of local costmap?

I am trying to use 2 topics from RTABmap/obstacle_detection (obstacle, ground). Ground for the clearing and obstacle for marking. I am trying to follow this answer, and am not sure if I am doing it ...
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Cost value of a specific spot in cost map inflation layer?

Is there a tool to see the cost value at a specified place in the cost map? Using the 2d cost layer map with inflation layer. With lethal value set at the default 100 I can not navigate threw an area ...
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Dynamically adding prohibited zones to costmap

Hello World, I want to dynamically (at will) add and remove "prohibited" zones to the costmap. The zones should be simple polygons which prevent the local planner from driving through them. ...
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dynamic obstacle layer not working on global costmap

Hi, I am using the following plugins for global costmap: plugins: ...
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2 answers
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[Nav2] Why use Voxel layer over 2D layer for RGBD sensor?

Hi, I can't get my head around why to use voxel layer if at the end, collision will be checked in 2D (as robot footprint is 2D). Thus, even having 3D obstacle data in costmap is no use and adding RGBD ...
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Navigation on turtlebot3

Hi everyone, I would like to ask for help on navigation stack because I don't really understand how it works and how to use it. I have a turtlebot, a map (pgm and yaml file) and a python script I made ...
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Get cost value of a point in local costmap

Hi everyone, I want to get cost value of a specific point in local costmap. For example, i have a point and the position of this point is taken relative to map tf frame. Can you tell me how to check ...
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2 answers
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Robot does not percieve other robots as obstacles

I have a multi robot system where they all have a version of the navstack with different namespaces. They all share the same costmap parameters but again in a different namespace. The problem is that ...
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move_base obstacle clearing in open field problem

Hi, A project I am working on involves the use of a mobile robot in an open field using move_base to navigate autonomously and avoiding obstacles. The obstacles in the costmaps only get cleared with ...
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Global and local costmap are shifted in relation to the map mapped by gmapping

Dear friends, I have the following problem where I would love to get any hint that leads me to a solution. First of all here are my tech specs: ROS melodic with Stage 4.3 simulation Ubuntu 5.4.0-65....
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Advantage of adding costmap_2d::ObstacleLayer plugin to global costmap

I was going through this Husky Navigation tutorial. This tutorial allows us how to navigate the Husky bot without using a map. It has 3 yaml files for configuring ...
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progressive costs in costmap2d

Hi, i am trying to figure out a way to navigate on a road like environment. For this i would like to give both lanes different costs so the right lane has preference but when it is blocked left lane ...
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after changing the yaw in the map.yaml, costmap does not take that yaw

I use the below yaml for getting the map using the map_server package. I changed the yaw in the origin tag of the original yaml to -0.102. ...
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How are LaserScan and global_costmap related?

Hi all, I am currently working on navigation and I have a question regarding understanding a concept. From what I understood so far, global_costmap is created based on the pre-loaded static map by ...
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Local Map (navigation stack) not showing obstacle

Hi, Can someone shed some light on how to display lasercan obstacles for use in Navigation Stack (AMCL+MOVE_BASE, ubuntu 18.04, Melodic)? I spent lots of time changing configurations and searching for ...
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Clearing the obstacles form local costmap

Hello, I want to ask, is it possible to specify somewhere in the move_base parameter how often clear the local costmap. I want to do that because I face the problem when the local costmap add a ...
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Dead zone of SICK S300 laser scanner during simulation

I'm experiencing an issue where if the robot drives too close (unknown distance) to a static or dynamic obstacle then the laser scanners will not properly detect the obstacle, and thereby no lethal ...
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Call clear costmap service periodically

Hello. I have the ROS navigation package on Kinetic with a Realsense camera. I am transforming the depth image of the camera to laser scan, and then with that laser scan generate obstacles with the ...
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3 answers
204 views

Clear obstacles of obstacle layer of costmap

Hello everyone. I have a Realsense D435 camera on my application, and I use its depth_image to generate a laser scan topic with the package depthimage_to_laserscan. This works allright. The problem I ...
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ObstacleLayer and VoxelLayer don't generate obstacles

Hello everyone. I have the issue as i said in the title that ObstacleLayer and VoxelLayer don't generate obstacle. I am using a Realsense camera, model D435 to generate a pointcloud and then using the ...
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Add camera data to obstacle layer or voxel layer in costmap?

Hi. I want to use navigation with multiple sensor inputs. I already have two SICK scanners on my robot, and to avoid the issue with only planar scanning, I want to add a RealSense camera as well. I ...
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How to utilize Costmap in navigation process?

Hello, I'm using ROS kinetic on ubuntu 16.04. I'd like to use cost map of navigation precess, whose type is nav_msgs/OccupancyGrid . When I tried checking how it ...
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ROS Navigation: Remove objects from the costmap with delay

Dear all, at the beginning some information regarding my robot system: Turtlebot 3 Waffle Odroid XU4 360° Laser scanner (RPLidar A3) IntelRealsense D435 Task ...
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2 answers
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A costmap - a general concept or a ROS concept?

Hi. I'm trying to raise my understanding of costmaps, as I understand that this is an important concept in the Navigation stack of ROS. What I do not understand is if costmaps are a general concept or ...
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What Range of Costs Does ROS Navigation Support?

I'm looking to make custom costmap2d layer, where each cell in the occupancy grid would be a range of values rather than a binary OBSTACLE/NO OBSTACLE. For instance, if the robot was trapped between ...
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Can I use costmap_2d as a standalone node, without using the navigation stack?

Hello! I have some point cloud data and would like to construct a costmap for navigation purposes. I couldn't find any tutorial on costmaps specifically, most tutorials are often about using costmap ...
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Robots always make extra rotations in automatic navigation

I am learning auto-navigation in the simulator, I set a target point in Rviz that is very close to the starting position. The robot then begins to spin and the console tells me that he is clearing the ...
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how to update the static global map only when needed?

Hi, I try to navigate the robot in an environment with movable obstacles. Instead of making the robot avoid all the obstacles it found, I want the robot to test if an obstacle is movable first. If the ...
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Costmap2D failing to mark laser scan data as obstacles on one side

My obstacle layer is only marking obstacles on one half of the robot. The raw laser scan data is correct and it is correctly visualised in RVIZ and you can see. The unmarked obstacles are always on ...
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Create Restrict Area on /Map

Hello, I want to create restriction area for path planning. Robot mustn't go restriction area that user's indicated. In additional map mustn't include obstacle that not sensor's seems. Is it possible ?...
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C++ Compiler uses the wrong Costmap2DROS version

Hello everyone, I'm trying to write some c++ code that uses the Costmap2DROS class, but I have this error at compile time: ...
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Long-term autonomous navigation

I would like my autonomous robot to operate autonomously for long periods of time (e.g. several days or even weeks). So far, I have used the navigation stack for navigation and mapping. However, the ...
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1 answer
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How to check for free cells in a line in the costmap?

Hello, What I want to do is something similar to a raycast. From a specific position draw a line and get the list of all the free cells in that line. The line has a maximum length, but it has to stop ...
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Multi-robot Navigation - Cooperative Navigation

I have setup navigation stack successfully . I have following configuration : Mutiple bots under different namespaces Seperate Planners for individual bots Static Map generated before-hand No laser ...
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2 answers
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How to create a costmap layer to avoid downward stairs

Hello! I am using costmap_2d for creating a 2d occupancy grid and mapping. I'm able to have my real robot mapping a room with a kinect and using depthimage_to_laserscan and I also would like to detect ...
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Unable to start costmaps in navigation stack

Hello everyone. I am now working with the Create 2 robot - Roomba 600 platform - with the driver from AutonomyLab and a Hokuyo LRF. Everything is running perfect, but when I try to enable the ...
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costmap parameters - navigation stack

Hello, for me it's unclear what parameters have to/can be in common_costmap_params.yaml, local_costmap_params.yaml and global_costmap_params.yaml This tutorial http://wiki.ros.org/navigation/Tutorials/...
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Local Costmap of move_base Package Does not Refresh when the Robot is Stationary

Hi, I am encountering the issue that my local cost map does not refresh when the robot is stationary. This would create significant problems when there are moving obstacles around the robot. You can ...
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TEB_local_planner inflation_dist vs Costmap_2D Inflation layer

Hi everyone, I can not understand the difference between the TEB_local_planner's inflation_dist parameter and the Inflation Layer...
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Obstacle avoidance in move_base package

I am using DWAPlannerRos and GlobalPlanner for move_base navigation package. It is able to navigate to goal. I have set the inflation radius of obstacle layer and inflation layer of costmap to be 1.0. ...
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Can I update staticLayer with the laserData?

I want to update static layer with the data from lidar.Is that OK? My thought is that call this function StaticLayer::incomingMap(new_map),the parameter "new_map"is from the lidar? Why it ...
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what is the meaning of transformGlobalPlan in goalfunction.cpp line 80

/** @brief Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area. @param tf A ...
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Undefined symbol in custom costmap layer during runtime caused by tf2 Buffer transform

I am writing a custom costmap layer to read data from a radar sensor and turn it into a costmap, and I'm facing some issues running it. I get the following error when it runs: ...
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local costmap empty in ros navigation

Hi everyone, I have a Kinect on a mobile robot, where I use the package pointcloud_to_laserscan to publish a fake laser in the topic /scan for the navigation stack. The problem is that I am not able ...
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local_cosmap remark but can't clear

Hi, I create 2 laser scan by deepth_image_tolaser, one is middle and one is lower z=2-30cm. when I insert or remove object: glocal_costmap is clean and mark as obstacle local_costmap is remark ...
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observation_persistence in global costmap

What is the equivalent variable in ROS Indigo for observation_persistence in the costmap_2d obstacle layer that is in ROS Hydro? I'm not finding observation_persistence in ROS Indigo Thanks! ...
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Range sensor layer can't transform from map to /ultrasound. However, detected obstacles are correctly placed in the map

Hi all, I'm having some issues adding ultrasonic sensors to my costmap. My robot was set up using the move_base setup guide, and uses a single Hokuyo lidar for SLAM with hector_mapping. It uses three ...
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