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For error:

The origin for the sensor at (-0.04, 0.31) is out of map bounds. So, the costmap cannot raytrace for it.

Try adding to your global_costmap:

rolling_window: true

What is rolling window?

"Rolling window" means that you do not use the costmap to represent your complete environment, but only to represent your local surroundings (e.g. 5m x 5m around your robot). The costmap will then move along with your robot and will be updated by incoming sensor data.

Reference prior answers:

https://answers.ros.org/question/223880/what-is-rolling-window-used-for/ https://answers.ros.org/question/9845/move_base-warning-sensor-out-of-bounds/