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I'll answer my own question: I found information here that helped me: http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps

My costmap_common_params.yaml file now looks like this and the bumper data is not being cleared.

obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[-0.106, -0.106], [-0.106, 0.106], [0.106, 0.106], [0.150, 0], [0.106, -0.106]]
robot_radius: 0.150
inflation_radius: 0.3
transform_tolerance: 0.7

plugins:
  - {name: static_map, type: "costmap_2d::StaticLayer"}
  - {name: obstacles, type: "costmap_2d::VoxelLayer"}

obstacles:
  observation_sources: laser_scan_sensor bumper_sensor

  laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
  bumper_sensor: {sensor_frame: base_link, data_type: PointCloud2, topic: /pointcloud, marking: true, clearing: false}

I'll answer my own question: I found information here that helped me: http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps

My costmap_common_params.yaml file now looks like this and the bumper data is not being cleared.

obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[-0.106, -0.106], [-0.106, 0.106], [0.106, 0.106], [0.150, 0], [0.106, -0.106]]
robot_radius: 0.150
inflation_radius: 0.3
transform_tolerance: 0.7

plugins:
  - {name: static_map, type: "costmap_2d::StaticLayer"}
  - {name: obstacles, type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

obstacles:
  observation_sources: laser_scan_sensor bumper_sensor

  laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
  bumper_sensor: {sensor_frame: base_link, data_type: PointCloud2, topic: /pointcloud, marking: true, clearing: false}

inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.3  # max. distance from an obstacle at which costs are incurred for planning paths.