Questions tagged [costmap-2d]

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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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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 ...
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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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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 ...
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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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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 ...
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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. (...
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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 ...
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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 - ...
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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 ...
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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: ...
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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 ....
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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'...
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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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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 ...
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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 ...
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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: ...
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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 ...
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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. ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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::...
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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 ...
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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 ...
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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: ...
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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. ...
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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%...
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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. ...
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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 ...
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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: ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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2 answers
8 views

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 ...
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2 answers
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How to use the functions of Navigation Stack separately?

Hi all, I am interested in navigation on mobile robots. Following this tutorial I have successfully simulated the mobile robot running on rviz by given 2D Nav Goal. The rqt_graph is as attached. ...
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3D Obstacles "forgotten" if there is a gap between 3d camera FoV and the robot base

What's an algorithm or technique that doesn't forget about obstacles in the following situation? I've observed obstacles mistakenly cleared using the VoxelLayer costmap_2d plugin on ROS Jade. This ...
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Costmap_2d detects obstacles at wrong height if base_link moves in z-axis relative to the odom frame

I set up move_base and costmap 2d using sensor data from a PointCloud2 message from our Velodyne VPL-16 laser. It generates a 3D Pointcloud and I'm using the default min_obstacle_height and ...
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Updating ROS package

How to update the costmap_2d package in ROS ? Originally posted by mayank_m on ROS Answers with karma: 115 on 2016-01-28 Post score: 3
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What is the "center of the robot" in costmap_2d's footprint?

In the robot setup navigation tutorial, it says: "In the case of specifying the footprint, the center of the robot is assumed to be at (0.0, 0.0)..." From this, it sounds like they want it ...
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Local costmap has large drift, why?

I want to test out an exploration node and want to avoid errors in mapping and localization. Therefore I have replaced gmapping by the fake_localization node and a modified version of the map_server ...
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13 views

How to subscribe a new costmap2dROS object to the global_costmap/costmap

Hi all, I am planning to write my own node in ROS and I need to access the global_costmap which is being published. For that, I have created a new Costmap2DROS ...
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obtain a copy of the global_costmap

Hi all, I am planning to write my own node in ROS and I need to access the global_costmap which is being published. I have the following piece of code: ...
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