How to show the robot footprint in new hydro costmap system?
Since Hydro a new system is used for the costmaps. Unfortunately, documentation largely still needs to be updated, so it seems?
I have gotten it nearly completely working. Properly, by using the plugins and proper namespaces in the .yaml files.
Instead of using these topics in RVIZ: /move_base/local_costmap/obstacles /move_base/local_costmap/inflated_obstacles /move_base/local_costmap/robot_footprint As described here: http://wiki.ros.org/navigation/Tutori...
I think I have to visualize the footprint, obstacles and inflated obstacles all by using the costmaps themselves. My problem is however that I cant succeed to visualize the footprint (such a shown in this figure). Not in the old way () nor in the new way (as part of the local and/or global costmap). Moreover, the old methods (such as /move_base/local_costmap/inflated_obstacles) all don't work any more.
My files are given below. What am I doing wrong? I tried all kind of stuff, like putting robot_radius under footprint_layer namespace, using the footprint parameter to specify a polygon instead, etc. All to no avail.
Any help would be very much appreciated!
costmap_common_params.yaml:
robot_radius: 0.18
inflation_layer:
inflation_radius: 0.50
obstacle_layer:
observation_sources: scan
scan: {
data_type: LaserScan,
topic: scan,
marking: true,
clearing: true,
min_obstacle_height: 0.25,
max_obstacle_height: 0.35
}
global_costmap_params.yaml:
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: footprint_layer, type: "costmap_2d::FootprintLayer"}
- {name: static_map_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap_params.yaml:
local_costmap:
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.02
transform_tolerance: 0.5
plugins:
- {name: footprint_layer, type: "costmap_2d::FootprintLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}