Questions tagged [global-costmap]
The global-costmap tag has no usage guidance.
51 questions
0
votes
0
answers
14
views
SLAM Localization node updates global costmap causing distortion
I'm currently trying to use the SLAM toolbox localization node to allow a robot to localize itself and navigate an environment. Everything appears to load in correctly, with the initial RViz screen ...
0
votes
1
answer
42
views
[ROS2][Nav2] static layer shrinks size of set global costmap
I have a very similar question to:
[ROS2][Nav2] Is there a way to expand the global costmap?
and
Nav2 to navigate to space outside of global cost map when using static layer
I am working on ros2 jazzy ...
- 3
0
votes
1
answer
69
views
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 ...
- 3
1
vote
0
answers
57
views
Local and Global costmaps not showing up in rviz
I have been working on an autonomous navigation for a 3wheeled robot. I am using hector-slam for mapping (and already have several maps saved) and want to use move_base for the navigation. My main ...
- 11
1
vote
0
answers
15
views
Costmap boundaries
Is there a way I can manipulate a costmap so that the outermost cells of the inflated obstacles in the x axis are counted as the map borders. I think I can write a script that does that using Python ...
- 21
0
votes
0
answers
53
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 ...
- 305
1
vote
0
answers
56
views
Nav2 and Robot_localization: /map Topic Is Not Getting Published
I tried to create a navigation algorithm using nav2 and GPS data for the global odometry. With the help of the robot_localization package, I successfully created global odometry data by fusing the ...
- 21
0
votes
1
answer
183
views
Local Costmap do not update using Point Cloud data
We are having trouble updating local costmap when using Point cloud data. Sometime costmap reflects the obstacle, but mostly it doesn’t.
We are sharing logs, nav2_params and a sample images
Kindly ...
0
votes
0
answers
87
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 ...
- 1
0
votes
0
answers
52
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 ...
- 3
0
votes
1
answer
113
views
Obstacle layer in global costmap not set
Greeting,
I would like to ask about setting the global costmap parameters especially the plugins. Currently in my system I enabled the following plugins- static, inflation, obstacle and voxel layers. ...
0
votes
1
answer
164
views
ROS2 NAV2 global costmap is updating only previosly unseen area
I am using Ubuntu 22.04, ROS2 - Humble version.Installed all packages using package manager.
I am building simulation for my robot and I noticed very strange behavior for global costmap. My robot has ...
- 13
0
votes
1
answer
219
views
[ROS2][Nav2] Is there a way to expand the global costmap?
I am working in ros2 foxy in ubuntu 20.04 with a custom made robot.
In my current setup i use an imu and odmotry (produced by diff_drive) and a localisaton system outside of the robot (like gps).
My ...
Bastian2909
0
votes
1
answer
176
views
ROS2 nav2 global costmap disappearing
Hello, I am using ros2 foxy on Ubuntu 20.04 with rviz2 and gazebo 11.
I'm running a robot in a simulation and will soon test my program on a real robot.
Everything launch and work as intended :
I can ...
Bastian2909
0
votes
1
answer
11
views
How to load parameter file for global_costmap node started by nav2_planner?
Hi!
I want to use only the path planning feature in ROS2 Navigation2. My problem is, that when I'm launching the nav2_planner, it starts the global_costmap node automatically. I have a parameter file, ...
ahopsu
0
votes
1
answer
23
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 ...
jmyazbeck
0
votes
1
answer
194
views
move_base global costmap is not updated when removing an object/obstacle from the environment
Hello everyone!
I am currently working on a project using the ROS 1 navigation stack and for the past few weeks I have been struggling with this issue regarding the proper updating of move_base's ...
geoporus
0
votes
1
answer
6
views
"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
0
votes
1
answer
25
views
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 ...
rosberrypi
0
votes
1
answer
24
views
Can costmap_2d's static_map be updated?
Dear all,
I am working on implementing the navigation stack on a robot, and was wondering about the update behaviour of costmap_2d.
My global costmap is receiving a 2D SLAM map from Cartographer over ...
JunTuck
0
votes
1
answer
32
views
How to specify map topic for ros navigation static_layer (global costmap)?
Hello,
I have a /map topic where I have my initial map launched by map_server. But I want to change the topic for the map to /filtered_map. I want to do it because I make some restrictions on the map ...
Yehor
0
votes
1
answer
24
views
local costmap remember past obstacles
A bit of background about my setup:
I have a robot with a lidar sensor at about 4 feet off the ground and a kinect sensor at about 1.5 feet off the ground. the two sensors are directly above each ...
logan.ydid
0
votes
1
answer
13
views
global costmap is not centered
I am running the move_base node with dynamic global_cosmap.
here is global_costmap_params.yaml file:
and costmap_common_params.yaml:
and this is how global costmap looks like in rviz:
you see, ...
june2473
0
votes
1
answer
8
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 ...
- 5,825
0
votes
1
answer
46
views
How to use only the global planner without the other move_base components?
I am working on an autonomous robot. I have implemented my own local planner and controller. I would just like to use the costmap_2d and ...
Subodh Malgonde
0
votes
1
answer
4
views
Can I update global map with only one specific pointcloud topic?
Hi,
I'm using the move base on my robot for navigation, but I have some special needs regarding how the global map and local map should be updated. The robot have two sensors for mapping, a depth ...
mzWang
0
votes
1
answer
13
views
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 ...
mzWang
0
votes
3
answers
28
views
Nav Stack: one map for AMCL and one for move_base?
I need to run AMCL and Movebase from two different maps as there are many locations in an outdoor map that the robot would get stuck in gravel, rocks, bushes, etc that are below the level of the laser ...
billy
0
votes
1
answer
97
views
Robot Thinks It's Stuck When It Isn't
Hi,
I've got an annoying problem here. I've trying to get the robot to un-dock from the charging station, navigate then come back.
In the screen-shot below you can see that there is free space round ...
- 526
0
votes
2
answers
9
views
Orienting AMCL Map/Global_Costmap
I'm running AMCL navigation on a map I created with the "Autonomous Navigation of a Known Map with Turtlebot" tutorial. As you can see below, when I open RViz with "roslaunch ...
ElizabethA
0
votes
1
answer
19
views
Problem when setting 2D Nav Goal [closed]
Hi,
I'm running ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3.
My navigation stack is up and running and my robot is able to localize itself in a given map. ...
nico_b
0
votes
1
answer
32
views
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!
...
j_salfity
0
votes
1
answer
3
views
How to travel long distance in global map
I want to move use move_base to travel distances in the vicinity of 35m. Increasing the size of the local window so that it is large enough causes the update rate of the cost map to fall too low. I ...
mitch
0
votes
1
answer
14
views
escape velocity robot behavior move_base
Hi all,
I have a small doubt regarding the robot's behavior when escape velocity (escape_vel) is given to it. When the robot is going in the backward direction (...
Naman
0
votes
1
answer
41
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 ...
Naman
0
votes
1
answer
3
views
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:
...
Naman
0
votes
1
answer
4
views
Pose on global_costmap
I set the parameters /move_base/global_costmap/origin_x and /move_base/global_costmap/origin_y -50.0 and -50.0 (width is 100.0), becouse the robot was in angle of global map (parameters were 0.0 and 0....
flaminga
0
votes
1
answer
9
views
Global costmap update?
Hello,
I'd like to know if the global costmap in the ros navigation stack updates itself or not.
I'd like to know by my question if the first created global costmap using the static map provided by ...
assil
0
votes
1
answer
16
views
Adding range_sensor_layer to layered costmap for global planning
Hi all,
I am working on mobile robot navigation with the Hokuyo and Ultrasonic sensors. Hokuyo will be the main sensor for navigation and Ultrasound sensors will be used to detect obstacles not seen ...
Naman
0
votes
2
answers
7
views
Rezise of the map necessary?
Hi,
I m trying to load a blank map with a defined dimension of [width, height] = [20, 20] but still it displays in Rviz just a small white square of constant dimension 6x6. I read this tutorial here ...
Andromeda
0
votes
1
answer
1
view
use some functions of move_base
Hello! Is there any way to use only some functions of move_base? I want to use in my node only the global costmap created with move_base and nothing else (no planners)
Originally posted by alex920a ...
alex920a
0
votes
1
answer
12
views
How to refresh automatically global costmap in Rviz
Hello! I'm wondering how to automatically refresh the global costmap visualization on Rviz. The problem is: I have an initial global costmap and I add an obstacle in gazebo. At this point the global ...
alex920a
0
votes
2
answers
35
views
global costmap position
Hi,
I'm new to ROS and I'm trying to get my robot simulation in gazebo work with the navigation stack. I've followed the navigation stack tutorials but when I set a goal position in the rviz, I get ...
Kasra
0
votes
1
answer
34
views
/base_scan observation buffer has not been updated
Hi,
i am trying to get the navigation stack running. Hokuyo is the laser scanner i am using. When i am launching move_base_local.launch i receive the warning
"The /base_scan observation buffer ...
m.hoev
0
votes
1
answer
4
views
obstacle_layer does not clear area
I'm experiencing a very strange and to me random behavior from the obstacle_layer. To visualize my point I recorded a bag file and launched it over and over again ...
Luke_ROS
0
votes
2
answers
6
views
Best way to send a goal with move_base that is off the global costmap?
Hi Guys,
Using Hydro's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 1000 meters away from the robots current position, if not more.
The local ...
Raptor
0
votes
1
answer
40
views
How to use global_costmap/costmap_updates for updating global costmap
I've already search through the Internet and still get no clue of how to update the global cost map in navigation node, hydro.
I've create a new package and subscribe to global costmap generated from ...
noizpgt
0
votes
1
answer
17
views
How to instantiate the costmap
I do have a problem to instantiate the costmap in my c++ code.
I want to instantiate it to work with the resulting costmap object to obtain FREESPACE, UNKNOWN and OBSTACLE. But all I get is a costmap ...
dneuhold
0
votes
1
answer
7
views
a global and local map question
In the image below there are two blue crest. If I toggle off the global map panel then the right one disappears. If I toggle off the local map panel then the left one disappears. My global static map ...
rnunziata
0
votes
1
answer
27
views
Global Costmap not visualized
Hi,
I tried to visualize the costmap in RVIZ. The local costmap is published and visualized, while the global costmap doesn't publish any data. Since RVIZ is able to find the global costmap topic, I ...
dneuhold