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PointCloud2 Data Not Being Used as Obstacles in Obstacle Layer

I am having issues adding PointCloud data to the costmap as obstacles. The data is coming from a /marker_to_pointcloud topic that takes ...
pca1's user avatar
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1 answer
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Local planner and local costmap usage info

I am having some trouble understanding Global/local costmap and planner and would need some info pls. I am using a Regulated Pure Pursuit controller and the Path is created via the planner server ...
Tom Lemmel's user avatar
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3 answers
42 views

Costmap not published but robot navigates through the map

I am trying to simulate navigation on a differential drive robot in gazebo. I'm using the default config file for nav2 with the topic names changed. The navigation seems to work fine (navigates to ...
Sriram's user avatar
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1 answer
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How to select costmap layers in navigation plugins

Navigation2 provides plugins of costmap-layers for creating costmaps, such as Voxel Layer, Static Layer, Inflation Layer, Obstacle Layer. What is the basis for the selection to create global costmap ...
kao.zhu's user avatar
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2 answers
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nav2 - costmap without SLAM map

The map that slam-toolbox is supplying is too noisy. I would like to have nav2 construct its costmaps - global and local - using the laserscan only, and to disregard the map the SLAM is supplying. ...
amit zalman's user avatar
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1 answer
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local_costmap from nav2 is not displayed in rviz2

I've tried to view local_costmap from /local_costmap/costmap topic in rviz2, but it doesn't work in ROS2 Humble because of following error: "[INFO] [1714830442.379829286] [rviz]: Message Filter ...
ArtemKondratev's user avatar
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1 answer
19 views

Creating a costmap using hector_slam

I have a map created using hector_slam but I don't know how to publish a 2d costmap to use in my navigation algortihm. I did my research and costmap_2d package seems to be the best option but I don't ...
sivhaslee's user avatar
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1 answer
32 views

Nav2 to navigate to space outside of global cost map when using static layer

Does anyone know if there is a way to travel to goal poses outside of the global cost map while using nav2 with static layer enabled? When I set up a SLAM simulation with nav2, the initial slam map is ...
Ben Rossano's user avatar
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1 answer
39 views

ROS 2D costmap layer to avoid certain areas

I am trying to implement a costmap layer which would allow a robot to assign higher costs to unfavorable terrain, like patches of grass. So, the robot is still able to pass over the grass if that is ...
Joshua L's user avatar
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0 answers
104 views

NAV2 convert Image to OccupancyGrid Python

I want to use CostmapFilter for keepout zones in ros2 humble. I found lots of example on how to load an image from file and publish costmap filter. In my case, user can draw keepout zones dynamically ...
Patrick Weber's user avatar
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37 views

How can I differentiate between a dynamic obstacle and a static obstacle on local_costmap?

I'am a starter on ROS. I'am making my own point follower, a robot that follows a "clicked_point" in a map. So, currently, I'am stopping my robot if anything is too close to it, but I wanted ...
defend's user avatar
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navigation: sensor is out of bound. so the costmap cannot raytrace for it

I am trying to do a navigation stack on the pepper robot. when I launch move_base, i have noticed the following error. i have seen a similar kind of issue and I tried that modification but was still ...
sai's user avatar
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1 vote
1 answer
121 views

Nav2: Local costmap for robot with obstacles

I am trying to implement a corner of the nav2 stack on a robot. What i am interested in, is using the costmap_2d package, to keep track of incoming obstacles in a local costmap, by rolling it infront ...
Victor Soeby's user avatar
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0 answers
48 views

Both global and local costmap empty

i am trying to build a robot with navigation stack. However, when i saw RVIZ,both local costmap and global costmap was blank. And the local costmap is not in the center of the robot. can someone help ...
Khoi's user avatar
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1 answer
64 views

Robot and its previous positions are counted as obstacles

I am trying to use a SLAM package along with the ROS navigation stack and a package called explore_lite, which automatically directs the robot towards unexplored areas. I have most of this working, ...
Joshua L's user avatar
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1 answer
75 views

Navigation stack costmaps and explore_lite not working

I am currently trying to use explore_lite with the navigation stack, but I am running into some issues. First of all, the navigation stack seems to be identifying the robot itself as an obstacle in ...
Joshua L's user avatar
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1 answer
30 views

How do I update the costmap origin's orientation with the help of static layer plugin in Nav2?

I have been trying to use the static layer plugin in Nav2. My custom map_topic has a different orientation of its origin as compared to the /map topic published by slam toolbox. But the processMap ...
Sagar's user avatar
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1 answer
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Increasing the obstacle detection range in costmap ROS2 Foxy

I am running Nav2 Foxy version in my self build navigation robot. The whole system works without any issue and now i am trying to tune some parameter in the costmap to increase the obstacle detection ...
user38130's user avatar
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keepout filter in ros1

I have some questions about costmap theory, if you can help me. How we calculate the cost of each pixel for the costmap master. (sum of all layer? or average...??) What is the algorithm using in ...
fifi's user avatar
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1 answer
46 views

Stuck on Astar Planner plugin for movebase to operate turtlebot3

I have a problem on my astar planner plugin for move_base to move the turtlebot3. When I use the 2D nav goal, sometimes it works I don't know why but many times it doesn't. It does not make the path ...
한정민's user avatar
1 vote
0 answers
51 views

Costmap configuration (costmap common_params.yaml)

I have a robot equipped with IR sensors, I don't have lidar. I don't understand how can I set my parameters in this file (costmap common_params.yaml) , what should I put instead of LesarScan (Note I ...
Ibrahim Sheikh's user avatar
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0 answers
221 views

[ROS2][NAV2] User misconfiguration of parameters may bring abnormal memory usage

Description Based on: Operating System: Ubuntu 22.04 ROS2 Version: humble Nav2 Version: humble Steps to reproduce issue launch the navigation2 within defaulted ...
GoesM's user avatar
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0 answers
37 views

navigation2: crossing gates/curtain with stvl layer on

I need suggestion on the best-way to handle gate crossing with nav2. I had nav2 deployed and working on a bot with stvl layer. I would also like to add gate crossing feature . The gate is flexible ...
wbb's user avatar
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0 answers
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Timed out waiting for transform from base_link to map to become available before running costmap

I'm trying to create the costmap2dROS object using tf2 transform listener, but I always get the same error, I think it may be caused by the namespace, since I only have "robot_map" and "...
MF Boom's user avatar
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1 answer
133 views

Goal pose off the gloabl costmap with nav2 and slam-toolbox

I'm using slam_toolbox and nav2 stack to carry out SLAM with a quadcopter equipped with a LIDAR and a odometry camera in a simulated environment using Gazebo Garden (ROS2, Humble). On the left, the ...
pga's user avatar
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1 answer
52 views

DWAPLANNER in ROS for a person-following robot: Footprint and costmap?

I'm currently working with the DWAPLANNER for a person-following robot in ROS, and I'm eager to gain a deeper understanding of how this planner incorporates a robot's footprint into trajectory ...
Niklas 's user avatar
-1 votes
1 answer
3k views

ROS2 Humble, 3D Lidar, LIO-SAM slam and nav2: how to make it work together with global map?

This is my very first question in this community. So, I'm a bit stuck. Given data: I got akkerman mode robot with 3D Lidar, 9-Axis IMU + GNSS, ROS2 Humble, Nav2 stack. After a while, achieved LIO-SAM ...
whiteagle's user avatar
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0 answers
14 views

Cosmaps are not updating

So i have this problem where i removed an object from map but i can still see it in rviz .The circle in the upper left corner is removed in real life but not in rviz
kostas T's user avatar
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0 answers
79 views

Configuring Nav2 for Ardupilot

I would like to use nav2 with Ardupilot, but I'm facing the following behaviour: The costmaps are not being published correctly and, because of that, the copter isn'...
pedro-fuoco's user avatar
1 vote
1 answer
93 views

Local costmap obstacle drift artifacts

I am trying to set up a differential drive mobile robot for SLAM and navigation. I am using: ros-noetic slam_toolbox navigation_stack gazebo + lidar plugin The ...
Sopterean Calin's user avatar
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2 answers
1k views

ROS2 Humble Nav2 - Local and Global costmap not published

I am currently creating an example for using Gazebo Garden in ROS2 Humble. Have issues getting local and global cost maps to publish in the setup I am creating. I can get the Nav2 stack started and ...
Danny Ng's user avatar
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1 answer
21 views

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: ...
user avatar
0 votes
1 answer
84 views

How to combine local costmap from laserscan and update with /costmap_updates

Hi all, Ubuntu: 22.04 ROS: Humble I'm trying to update my generated costmap based on several factors. Currently, I'm getting a costmap based on the robots laser scan. In order to update this map I've ...
user avatar
0 votes
1 answer
20 views

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 ...
Chase's user avatar
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0 votes
1 answer
96 views

dynamic obstacle layer not working on global costmap

Hi, I am using the following plugins for global costmap: plugins: ...
user avatar
0 votes
1 answer
11 views

Where is max_obstacle_height in an Obstacle_Layer measured from?

I want to know where does the local costmap take the origin to measure the height of the obstacles. Is it from the coordinate frame of the sensor, from the coordinate frame of the robot, or from the ...
user avatar
0 votes
1 answer
11 views

Costmap doesn't consider laser beams behind the robot (only when the laser frame is flipped upside down)

Hello everyone, I'm currently implementing the navstack on my robot and I have a problem with the generation of my costmaps : I use the obstacle layer plugin to make dynamic obstacles from the LiDAR ...
user avatar
0 votes
1 answer
23 views

The obstacle is not on my cost map

If I give a goal for the robot, it will bump into the obstacle. I am using Humble and NAV2. global_costmap: global_costmap: ros__parameters: update_frequency: 2.0 publish_frequency: 2.0 ...
user avatar
0 votes
1 answer
17 views

AMCL aborts global costmap

I have problems with Rviz2 when pose estimating a robot. I get the following error: ...
user avatar
0 votes
1 answer
111 views

No local costmap when launching nav2 multiple turtlebot3

Running Ubuntu 20.04 with ROS2 Galactic I have problems when launching the multi_tb3_simulation_launch.py file from Nav2. After pose estimation, I get a global ...
user avatar
0 votes
2 answers
16 views

Is it possible to debug costmap2d plugin?

I am using vscode with ROS extension installed and I would like to debug my custom costmap plugins but not sure how to start to debugger for it. ROS navigation packages are installed as binary and ...
user avatar
0 votes
1 answer
95 views

Global and Local costmap configuration

Hi, I am new to ROS and was reading about the global and local costmap configuration here http://wiki.ros.org/navigation/Tutorials/RobotSetup. I noticed that the static map parameter is set to true ...
user avatar
0 votes
1 answer
22 views

Move_base doesn't subscribe to "/scan" topic from RpLidar

Greetings, I'm trying to configure move_base on a Jetson Nano board (Ubuntu 18.04, ROS Melodic) equipped with an RpLidar and ZED2 camera. The RpLidar provides the "/scan" topic which updates ...
user avatar
0 votes
1 answer
6 views

Seeking clarity the Costmap2D::worldToMapEnforceBounds() function

The docs define the costmap_2d::Costmap2D::worldToMapEnforceBounds(double wx, double wy, int &mx, int &my) function as follows - Convert from ...
skpro19's user avatar
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0 votes
1 answer
17 views

How to add obstacles detected by LaserScan to the global costmap?

I am trying to add obstacles in the way of my robot. Even if they are detected by the laser scan, it's not until the obstacle comes in the local costmap's frame that the obstacle is noticed and added ...
user avatar
0 votes
1 answer
6 views

OccupangyGrid map Issue: ray_ground_filter fails to generate costmap on AutowareAI

I have recorded a video where the self-driving car fails to recognize a car obstacle in Occupancy Grid map: https://www.youtube.com/watch?v=XSKYE1Oxq-c This issue is related to: https://answers.ros....
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0 votes
1 answer
9 views

Costmap2DROS object is not correctly created

Hi I have created a node to run navFn using costmap_2d without move_base, as in this link: http://lists.ros.org/lurker/message/20100408.052450.ba663427.en.html (was http://ros-users.122217.n3.nabble....
user avatar
0 votes
1 answer
24 views

Obstacles in camera blind spot are cleared from local costmap

I'm trying to implement obstacle avoidance using move_base package on ROS 1 Melodic. Current issue is that when the robot approaches a short obstacle, the obstacle is first correctly drawn to local ...
jannkar's user avatar
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0 votes
2 answers
69 views

Using two static layered costmaps to make restricted areas

Hi there! I have a small question, that seems to be simple, but it's been bothering me a lot for weeks on end. I've been working trying to make a robot capable of navigating autonomously, and it's ...
user avatar
0 votes
1 answer
2 views

what difference does it make in NavStack(move_base) with frame_id as map vs odom

We set global_frame for different nodes of the NavStack. Below are the ones I am eager to know about and how they affect the system. Costmap params: ...
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