Re: Obstacle Avoidance during map construction.

Posted by torkx on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1354.html

Hi,

I am having the same issue. I have successfully mapped my environment and can see the rtabmap/proj_map in RVIZ and I want to use that map as my costmap for local obstacle avoidance. Here is my launch file linking to move_base.

 <remap from="odom" to="odom" />
      <remap from="map" to="rtabmap/proj_map"/> 
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
             
       
       
       
       
       
       

     <rosparam file="$(find PKG)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
       <rosparam file="$(find PKG)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find PKG)/config/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find PKG)/config/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find PKG)/config/base_local_planner.yaml" command="load" />

    </node>

However, when trying to visualize the /move_base/global_costmap/costmap in RVIZ it just shows a blank spot.



Here is my local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 3.0
  static_map: true
  rolling_window: false
  width: 5.0
  height: 5.0
  resolution: 0.125
  origin_x: -2
  origin_y: -2

plugins:
  - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
  - {name: inflater_layer, type: "costmap_2d::InflationLayer"}

I'm stuck and don't know where I am missing something.

Thanks for your time.