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Questions tagged [costmap-2d]

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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, ...
Marcus Vinicius's user avatar
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range_sensor_layer - Need reference to the probability model used here [closed]

As the title says. I find the range_sensor_layer very helpful as is, but I would like to modify some parts of it as per my application. But before that I would like to study the probability model used ...
JKR's user avatar
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2 answers
60 views

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 ...
Marcus Vinicius's user avatar
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0 answers
14 views

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 ...
Marcus Vinicius's user avatar
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0 answers
7 views

How do I modify a costmap_2d? [closed]

I have a costmap and I can visualize it on RVIZ. However I'd like to insert a rectangle as a static layer in this map. I read on internet that I need to modify the file costmap_global_params.yaml but ...
Rafa SS's user avatar
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1 answer
19 views

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 ...
Arad's user avatar
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1 vote
0 answers
15 views

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, ...
Oscar's user avatar
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1 answer
37 views

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 ...
Tdelic's user avatar
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1 answer
56 views

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, ...
Deepak Maurya's user avatar
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0 answers
37 views

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 answer
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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 ...
Heho's user avatar
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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 ...
kostas T's user avatar
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0 answers
20 views

2Dcostmaps are not working properly

I DON'T use a pre-built map and i am trying to do navigation. I am using gmapping for that. First of all the rolling window in local costmap is not working at all. Second problem is that it doesn't ...
kostas T's user avatar
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100 views

Costmap navigation 2 not working

I'm using robot pepper from Softbank Robotics, Rtabmap and navigation 2 with ROS2 foxy. I'm having problems in nav2 costmaps. When I visualize the costmaps in Rviz2 it works fine for about 1 sec then ...
reds's user avatar
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1 answer
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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 ...
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1 answer
22 views

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 ...
user avatar
0 votes
1 answer
60 views

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. (...
user avatar
0 votes
1 answer
20 views

update_frequency vs publish_frequency (costmap parameters)

I have a costmap_common.yaml file which has update_frequency and publish_frequency ...
skpro19's user avatar
  • 314
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1 answer
8 views

Confusion regarding mx, my variables in costmap_2d::worldToMap method

The worldToMap function is defined as follows in the official documentation - ...
skpro19's user avatar
  • 314
0 votes
1 answer
1 view

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 ...
user avatar
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1 answer
29 views

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: ...
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0 votes
1 answer
5 views

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 ....
user avatar
0 votes
1 answer
26 views

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'...
user avatar
0 votes
1 answer
29 views

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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0 votes
1 answer
7 views

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 ...
Matthias's user avatar
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1 answer
5 views

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 ...
user avatar
0 votes
1 answer
14 views

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

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 ...
user avatar
0 votes
1 answer
10 views

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. ...
user avatar
0 votes
1 answer
7 views

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 ...
user avatar
0 votes
1 answer
22 views

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 ...
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0 votes
1 answer
2 views

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 ...
user avatar
0 votes
1 answer
72 views

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 ...
user avatar
0 votes
1 answer
15 views

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 ...
user avatar
0 votes
1 answer
9 views

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

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 ...
user avatar
0 votes
1 answer
28 views

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 ...
user avatar
0 votes
1 answer
22 views

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: ...
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0 votes
1 answer
6 views

Timed Out Error when initializing Costmap2DROS

I have multiple turtlebots on Gazebo simulator and try to get the positions of the obstacles. ...
user avatar
0 votes
1 answer
2 views

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%...
user avatar
0 votes
1 answer
32 views

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. ...
user avatar
0 votes
1 answer
3 views

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 ...
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0 votes
4 answers
21 views

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

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 ...
user avatar
0 votes
2 answers
21 views

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 ...
Lucas Walter's user avatar
  • 3,347
0 votes
1 answer
11 views

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 ...
user avatar
0 votes
1 answer
7 views

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 ...
user avatar
0 votes
1 answer
17 views

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 ...
user avatar
0 votes
1 answer
4 views

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 ...
user avatar
0 votes
1 answer
11 views

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 ...
user avatar