How to instantiate the costmap [closed]

edit

I do have a problem to instantiate the costmap in my c++ code. I want to instantiate it to work with the resulting costmap object to obtain FREESPACE, UNKNOWN and OBSTACLE. But all I get is a costmap returning no obstacle, no inflated_obstacles, no freespace, just unknown.

This is what I preveiously start:

• turtlebot_minimal.launch
• gmapping.launch

My gmapping works fine and also the configuration of some parameter had succeeded.

THIS IS EXACTLY THE COSTMAP I WANT TO HAVE AS INSTANTIATED COSTMAP IN MY CODE !!!!

Here is my code:

costmap2d = new costmap_2d::Costmap2DROS("costmap", tf);
costmap2d->start();

This creates a costmap under /costmap which is not even close to the costmap created by /move_base.

Launchfile:

<launch>
<node pkg="simple_navigation" type="simple_navigation" name="simple_navigation" output="screen">
<rosparam file="$(find simple_navigation)/param/turtlebot_local_costmap.yaml" command="load" ns="costmap" />
</node>
</launch>

turtlebot_local_costmap.yaml:

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_footprint
   map_topic: map
   map_type: costmap
   height: 4
   width: 4
   max_obstacle_height: 0.6
   max_obstacle_range: 2.5
   obstacle_range: 4.0
   publish_frequency: 2.0
   update_frequency: 2.0
   publish_voxel_map: false
   raytrace_range: 4.0
   resolution: 0.01
   static_map: false
   rolling_window: true
   track_unknown_space: true
   unknown_cost_value: 255
   transform_tolerance: 2.0
   robot_radius: 0.18
   inflation_radius: 0.50

   observation_sources: scan
   scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}
   bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false}

So this configuration is the same as I use for tuning the parameters for gmapping.

UPDATE

Ok I just found my mistake ... I entered a namespace in my launch file which was not correlating with my .yaml file! So now I just removed the namespace and entered the costmap's name (local_costmap:)at the beginning of the .yaml file before I set all parameters!

Now the costmap is correct and published. I use two yaml files for the local_costmap (as above) but also for the global_costmap. Here is the configuration for the global_costmap:

global_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   map_topic: map
   map_type: costmap
   height: 10
   width: 10
   max_obstacle_height: 0.6
   max_obstacle_range: 2.5
   obstacle_range: 4.0
   publish_frequency: 1.0
   update_frequency: 1.0
   publish_voxel_map: false
   raytrace_range: 4.0
   resolution: 0.01
   static_map: true
   rolling_window: false
   track_unknown_space: true
   unknown_cost_value: 255
   transform_tolerance: 2.0
   robot_radius: 0.18
   inflation_radius: 0.50

   observation_sources: scan
   scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}
   bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false}

But now the map from gmapping is changing but the overlying costmap does not change, corresponding to changes in laserscan or map!?

I really appreciate every hint. Thanks

Daniel