Questions tagged [costmap-2d]
The costmap-2d tag has no usage guidance.
157
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How to Restrict the SMAC Planner to Virtual Lanes Using Navigation2 in Dynamic Agricultural Environments?
Problem Description:
I am working on an autonomous navigation project for an agricultural truck that needs to move smoothly and predictably on dynamically defined virtual lanes. The navigation is ...
- 273
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31
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Local Costmap is not receiving map in "Odom global frame" while using AMCL and GMapping in SLAM
I am implementing SLAM using the AMCL (Adaptive Monte Carlo Localization) and GMapping packages in ROS. While the map is successfully displayed on the Global Costmap, it does not appear on the Local ...
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2
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95
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Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps
Setup: I am using Ubuntu 22.04 and ROS2 Iron, Two 3D Velodynes, a radar.
I am using a ros2 bag in which I recorded the autonomous vehicle launched topics (just to get the sensors data: GPS, odom, imu, ...
- 273
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188
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How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?
I'm facing an issue where the SMAC Planner in Nav2 consistently plans paths too close to obstacles, often just on the margins or even within the inflated areas. My aim is for the planner to ...
- 273
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34
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Adjusting the Origin of Rolling Costmaps in ROS2 Nav2 for Forward Offset
I am trying to adjust the origin of both global and local rolling costmaps to be positioned in front of the vehicle instead of centering the robot within them. Despite setting the origin_x and ...
- 273
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29
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Significant Degradation in SLAM Performance with Reduced LiDAR FoV
I am using ROS2 Humble and trying to run a simulation with Gazebo. I run a SLAM algorithm with slam_toolbox for my robot. The mapping and localization were good when I had a 360° LiDAR, but when I ...
- 21
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Local costamp not cleared properly
Summary:
I am using a TOF depth camera to convert the received point cloud into a laser scan and add it to the costmap. However, when the dynamic obstacles (i.e. people) move out of the camera's FOV, ...
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82
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Nav2 Custom Costmap plugin subscription [closed]
I am trying to write a costmap plugin for nav2 and i need to get a specific data from a topic but i couldnt create and spin the subscription inside the plugin. (I need coordinate points to create an ...
- 3
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85
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Bad costmap while using Intel Realsense D435i camera in ROS2 NAV2
I am using 2 Sicklidars and 1 intel realsense D435i camera for robot navigation.
While using the Lidars for the local costmap and global costmap, everything is good. As soon as I add realsense camera, ...
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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 ...
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34
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Which coordinate system should be used for local planning, odom or map?
I am designing a local planning system, and based on the suggestions provided on the ROS Wiki, it seems that the real-time reliability of the odom coordinate system is higher. Therefore, I have chosen ...
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99
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obstacles are not detected in local costmap/ Map is not updating at all
So i am using a pre-build map in which i am trying to navigate a real robot. I've watched the tutorials in ROS-Wiki on how to configure plugin layers/ general parameters etc.
Basically nothing works ...
- 5
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6
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"map update loop missed" happen frequently when robot path plan and run
Hello,
My robot is planning path and controlling velocity with move_base.
In many cases, it seems to be working properly.
However, there were times when it suddenly started rotating in place or ...
ayato
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26
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clear_costamps recovery clear only one layer
Hi,
is it possible to configure the clear costmaps recovery to only clear one specific layer in both?
I found the following question in the forum here but cant get it to work. I don't even know howto ...
Tristan9497
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89
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rolling window global costmap borders are marked as obstacles
Hi,
i am trying to get a rolling window global costmap. I know that this is highly uncommon, but in my usecase it would be extremely beneficial if the global costmap wouldn't keep anything for ever. (...
Tristan9497
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29
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update_frequency vs publish_frequency (costmap parameters)
I have a costmap_common.yaml file which has update_frequency and publish_frequency ...
- 314
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9
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Confusion regarding mx, my variables in costmap_2d::worldToMap method
The worldToMap function is defined as follows in the official documentation - ...
- 314
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3
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compiler error while processing libcostmap_2d.so
Hello, I have been working with navigation stack for a while without any problem but now, i am facing compiler error written below
...
serhat
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56
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what difference between voxel layer and obstacle layer?
When I watch this video here, it explains them at 26:00 sec. Then I opened them in my robot and found them is different.
The local_costmap_params.yaml:
...
Redhwan
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5
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costmap_2d doesn't fit environment map size
I am using ROS Melodic on Ubuntu 18.04
I have generated a map of an environment with gmapping and now I'm trying to make my Turtlebot3 navigate it autonomously via the move_base package. This is my ....
davidem
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34
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how to setup range_sensor_layer in local costmap
Hi guys,
I am adding range_sensor_layer to local costmap of navigation stack (ROS Kinetic).
I followed the advise as mentioned in this post, Parameters for the new range_sensor_layer. However, I didn'...
simk0024
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34
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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 ...
NNie2019
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7
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static_layer gets deleted by obstacle_layer in global_costmap
Previously (i.e. pre-hydro) it has been possible to have a global_costmap that takes in sensor data as well as the static map from the ...
- 5,825
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5
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Layered costmap performance
After switching to the plugin implementation of costmap_2d in order to be able to work with layers, the layers load extremely slowly and in chunks, it's a bit difficult to explain, so I've included ...
SleepyTurtle
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15
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CMake Error: Project 'nav_core' tried to find library '-lpthread'
I can't to build navigation stack (https://github.com/ros-planning/navigation).
My system is: Ubuntu 16.04 4.15.0-43-generic, ROS Kinetic.
What I do:
...
standmit
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3
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I would like to use the same package with two different parameters
Hello. I am a ROS beginner. I am doing SLAM of turtlebot 2 in the ubuntu 14.04, ros (indigo) personal computer environment.
I am making a plugin for costmap _ 2 d.
So I would like to use two inflation ...
saito
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1
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16
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On speed limit in SLAM
Hello. I am a ROS beginner. I am doing SLAM of turtlebot 3 (waffle) in the ubuntu 16.04, ros (kinetic) personal computer environment.
I'd like to limit the speed of the robot in real time during SLAM.
...
saito
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1
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10
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costmap_2d plugin
Hello. I am a ROS beginner. I am doing SLAM of turtlebot 3 (waffle) in the ubuntu 16.04, ros (kinetic) personal computer environment. I modified local_costmap_params.yaml to use the costmap _ 2 d ...
saito
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31
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move_base to use map published on a certain topic
Hello, I'm having trouble trying to make my move_base constantly subscribe to a certain topic to load current SLAM-made map. There are some related questions here ...
rayvburn
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2
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Why the clearing stays permanent in obstacle costmap, when 0 (overwrite) combination method is applied?
Hello !
I am clearing some layers markings by a layer with a detected object to be cleared and the problem is that its' clearing stay permanent even when the object disappeares.
So here more detailed ...
Andrei Pasnicenco
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83
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costmap_2d: how to publish local costmap to topic
I'm running costmap_2d with PointCloud2 feed from a 3D lidar as the only source. Lidar points are preliminary filtered, the ground is mostly segmented out. It is used as a singular source for the ...
teonik
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22
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costmap_2d marking threshold
I'm running costmap_2d with PointCloud2 feed from a 3D lidar as the only source. Lidar points are preliminary filtered, the ground is mostly segmented out.
It works fine with both ObstacleLayer and ...
teonik
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11
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What does a padded footprint mean in navigation package?
Hi, all. I am learning and modifying the navigation package to make it suit our need.
I found many method functions in costmap_2d are about padded footprint. For example, padFootprint(),Costmap2DROS::...
scopus
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44
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Obstacles remain in costmap despite observation_persistence being set
My question is mostly a duplicate of this one but since it was closed without answer long ago, I open a new one.
I expected that when observations are removed after the given time, the corresponding ...
Felix Widmaier
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41
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How to create/display a static voxel_grid map?
I've searched quite a bit, and to no avail, for a modern, minimal example of creating a static voxel map and displaying that map in rviz. Most tutorials have incomplete steps, or aim at map creation ...
seanarm
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29
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costmap_2d expects non-existing include dir
I am on ROS Kinetic and Ubuntu 16.04.
When I call a catkin_make after cloning https://github.com/DLu/navigation_layers into my catkin_ws/src, I get the following error:
...
Chrizzl
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7
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Timed Out Error when initializing Costmap2DROS
I have multiple turtlebots on Gazebo simulator and try to get the positions of the obstacles.
...
procyon
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1
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4
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Prevent Laserscan from clearing custom costmap_2d layer
Hello,
I am attempting to write my own custom costmap_2d layer plugin for use in my global costmap. I have been following this tutorial http://wiki.ros.org/costmap_2d/Tutorials/Creating%20a%20New%...
biglotusturtle
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42
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obstacles are not cleared completely in costmap
Hi everyone,
I am converting the ultrasound sensors data to laser scan and it is used to update the local costmap. The obstacles are not cleared completely even when the obstacles moves out of frame. ...
Dharmateja Kadem
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4
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StaticLayer map-resize erases all obstacles from ObstacleLayer
Hello @David Lu
I am using Google Cartographer as SLAM component, and move_base for navigation. In the config of the global costmap, I have setup costmap_2d::StaticLayer to subscribe to the /map topic ...
Huibuh
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4
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25
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How to specify costmap_2d layers?
Hi.
I am trying to define an obstacle layer in my costmap_common_params.yaml file. As per the tutorial here, this is what I have for my layers:
...
epsilonjon
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2
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compiling the package [costmap_2d] is extremely slow on Jetson TK1
Have anyone experienced compiling costmap_2d on a Nvidia Jetson TK1 with Ubuntu 16.04 and ROS Kinetic? I've tried to compile it on 2 such boards. They all compiled ...
ZOU Lu
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2
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23
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costmap_2d with nothing but a clearing footprint?
I'd like to set up a costmap_2d initialized to be 100% unknown or obstacles, and have it do nothing except clear grid locations within the footprint. I don't want to have a static map that is ...
- 3,387
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problem of adding the range_sensor_layer to costmap_2D plugins
I am a fresh man to ROS system.I bulid a robot platfom use ros. i use move_base in my systerm.
I have a laser scan and some ultrasonic sensors in my systerm,but for using the ultrasonic sensor i got ...
zink
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7
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move_base node without actual robot?
hello,
since i have only laser scanner and trying to show obstacles in a built map via hector_slam/gmapping.
first i tried to use costmap_2d only but i have some problems in there ( my previous ...
bsk
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17
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visualizing obstacles in rviz (Gridcells vs map element)
hello,
I am trying to show obstacles / objects in rviz. i'm using costmap_2d for that
in the video of Using rviz with the Navigation Stack tutorial
obstacles can be shown by using GridCells element in ...
bsk
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5
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how can i use only costmap_2d map? (navigation stack without base_controller)
hi, currently i can create maps with gmapping + laser_scan_matcher and hector_slam.
i want to see obstacles in the map i create. so costmap is the answer i guess.
i just have lms100 laser scanner, not ...
bsk
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19
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Costmap not inflating all obstacles
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 ...
Robocop87
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47
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SLAM - detect initial position
Hello there,
I just performed SLAM with navigation_stack and V-REP simulator. As I know for know, we should give initial position of the robot so that AMCL performs localization and costmaps are ...
MariaKrgr
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2
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31
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costmap not cleared after executing all recovery behaviors
Hi everyone,
i have a problem with clearing my costmap.
First the robot is seeing an obstacle (for example a door, which will be closed infront of him) and then the robot is driving out of distance of ...
tobi93