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hi, I'm using laser (rplidar a3) and rgbd camera (realsense d455) for slam and navigation, rtabmap for rgbd slam, cartographer for laser slam, teb_local_planner as the navigation planner. Previously cartorgrapher and teb_local_planner have all been set well, now i'm trying to add the proj_map generated by rtabmap into global and local costmap, using a new layer grid_map added through ros tutorial simple_layers, but it just doesn't work.
The yaml file are like the follows:
<costmap_common_params.yaml>
transform_tolerance: 0.5
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.5
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor point_cloud2_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud2_sensor: {data_type: PointCloud2, topic: point_cloud2, max_obstacle_height: 1.35, min_obstacle_height: 0, marking: true, clearing: true}
grid_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.5
track_unknown_space: true
combination_method: 1
observation_sources: rtabmap
rtabmap: {data_type: OccupancyGrid, topic: rtabmap/proj_map, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off
inflation_radius: 0.35 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"
lethal_cost_threshold: 90
global_costmap_params.yaml
global_costmap:
global_frame: map
robot_base_frame: base_link
camera_link: camera_link
update_frequency: 1.0
publish_frequency: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: grid_layer, type: "simple_layer_namespace::GridLayer"}
# - {name: obstacle_3d_layer, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
Thx!
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