why dont costmap publish local_costmap/obstacles topic? (navigation tutorial)

asked 2016-06-20 13:41:50 -0600

bsk
73 ●25 ●29 ●33

hello,

in Using rviz with the Navigation Stack tutorial, (and also the video in it), Obstacles - Topic: local_costmap/obstacles Type: nav_msgs/GridCells...if its the case, just like the video i can select gridcell in rviz to display our obstacles.

but when i tried to run costmap_2d node or even move_base...it didnt publish that topic. my topics which related costmap are;

/costmap_node/costmap/costmap

/costmap_node/costmap/costmap_updates

/costmap_node/costmap/obstacles/parameter_descriptions etc.

so in rviz i cant choose gridcell display (just like the tutorial video) to show obstacles

how can i publish that topic? i just want to see obstacles just like the tutorial..

answered 2016-06-21 05:06:50 -0600

asimay_y

255 ●6 ●13 ●17

updated 2016-06-21 05:09:17 -0600

above is not the real costmap topic you want. if you want to show in rviz, you must launch the related costmap_layers plugins in costmap to show it.

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i had tried to do that (plugins: obstacle layes etc) but again there wasnt any topic published like just /obstacles (nav_msgs/GridCells)

bsk ( 2016-06-21 06:13:40 -0600 )edit

i meet the same problem Did you solve it ?

ROOBBE ( 2018-03-27 10:24:24 -0600 )edit

I have encountered the same problem as you. Have you find a solution to the problem?Thanks

Tansor ( 2018-12-25 19:18:06 -0600 )edit

The GridCells were replaced with the costmap/costmap_updates topics in a previous release. That tutorial is out of date.

David Lu ( 2019-01-11 16:04:31 -0600 )edit

@David Lu, costmap/costmap_updates topic is of type map_msgs/OccupancyGridUpdate which cannot be visualized. So should /costmap/costmap be used instead.

tsadarsh ( 2021-03-14 20:25:12 -0600 )edit

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why dont costmap publish local_costmap/obstacles topic? (navigation tutorial)

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