Revision history [back]

Hello.

I have the same issue, but I am using ROS Noetic.

Here are my .yaml files if you want to check what is wrong.

costmap_common_param:

footprint: [[-0.27 , 0.4], [0.83, 0.4], [0.83, -0.4], [-0.27, -0.4]]

inflation_layer:
  enabled: true
  inflation_radius: 0.75
  cost_scaling_factor: 6.0

#map_type: voxel

#static_map:
 # enabled: true

pointcloud_layer:
  enabled:               true
  max_obstacle_height:   1.5    #meters
  origin_z:              0.0    #meters
  z_resolution: 0.2
  z_voxels: 2
  unknown_threshold:     15     #voxel height
  mark_threshold:        0      #voxel height
  combination_method:    1      #1=max, 0=override
  track_unknown_space:   true   #default space is unknown
  obstacle_range:        3.0    #meters
  raytrace_range: 3.5
  publish_voxel_map: true
  observation_sources:   camera
  camera:
    data_type: PointCloud2
    topic: /camera/depth/color/points
    marking: true
    clearing: true
    min_obstacle_height: 0.3     #default 0, meters
    max_obstacle_height: 1.5     #defaule 3, meters

global_costmap_params:

global_costmap:
  plugins:
    - {name: static_map,       type: "costmap_2d::StaticLayer"}
    #- {name: pointcloud_layer_temp, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} #Pointcloud layer working
    - {name: pointcloud_layer, type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

  global_frame: "map"
  robot_base_frame: "base_link"
  update_frequency: 2.0
  publish_frequency: 10.0
  resolution: 0.02
  transform_tolerance: 0.5
  #static_map: true

local_costmap_params:

local_costmap:
  plugins:    
    - {name: pointcloud_layer, type: "costmap_2d::VoxelLayer"}
    #- {name: pointcloud_layer_temp, type: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"} #Pointcloud layer working
    - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}

  update_frequency: 2.0
  publish_frequency: 10.0
  global_frame: "odom"
  robot_base_frame: "base_link"
  #static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.02

I have the static_map parameter commented because a message said that this parameter is deprecated in Noetic.

Best regards. Alessandro