A global and local costmap

edit

Hello, everyone.

I am trying Navigation on Rviz, but I cannot see a local costmap on rviz. A global costmap works fine.

OS: Ubuntu 16.04, Ros-Kinetic

So, a mobile robot which is based on two wheels cannot avoid obstacles which is not on static map.

I have tried default params such as 'robot_base_frame:/base_link

I attached my Rviz Image because I could not see any image on preview even I posted through image option.

Just let me know if I need to post more information about it.

Here is costmap params

local_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   update_frequency: 10.0
   publish_frequency: 10.0
   static_map: False
   rolling_window: False
   width: 4.0
   height: 4.0
   resolution: 0.05
   transform_tolerance: 0.5


       costmap_common_params
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.18
inflation_radius: 0.4

map_type: costmap  #voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
max_obstacle_height: 0.60

observation_sources: scan bump
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}

global_costmap:
   global_frame: /map
   robot_base_frame: /base_footprint
   update_frequency: 10.0
   publish_frequency: 10.0
   static_map: true
   transform_tolerance: 0.5




 rostopic list
> /amcl/parameter_descriptions
> /amcl/parameter_updates /amcl_pose
> /chatter /cmd_vel /cmd_vel_joy
> /diagnostics /imu /initialpose /ir
> /joint_states /map /map_metadata
> /map_updates
> /mobile_base/sensors/bumper_pointcloud
> /move_base/NavfnROS/plan
> /move_base/TrajectoryPlannerROS/cost_cloud
> /move_base/TrajectoryPlannerROS/global_plan /move_base/TrajectoryPlannerROS/local_plan
> /move_base/TrajectoryPlannerROS/parameter_descriptions
> /move_base/TrajectoryPlannerROS/parameter_updates
> /move_base/cancel
> /move_base/current_goal
> /move_base/feedback
> /move_base/global_costmap/costmap
> /move_base/global_costmap/costmap_updates
> /move_base/global_costmap/footprint
> /move_base/global_costmap/inflation_layer/parameter_descriptions
> /move_base/global_costmap/inflation_layer/parameter_updates
> /move_base/global_costmap/obstacle_layer/parameter_descriptions
> /move_base/global_costmap/obstacle_layer/parameter_updates
> /move_base/global_costmap/parameter_descriptions
> /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions
> /move_base/global_costmap/static_layer/parameter_updates
> /move_base/goal
> /move_base/local_costmap/costmap
> /move_base/local_costmap/costmap_updates
> /move_base/local_costmap/footprint
> /move_base/local_costmap/inflation_layer/parameter_descriptions
> /move_base/local_costmap/inflation_layer/parameter_updates
> /move_base/local_costmap/obstacle_layer/parameter_descriptions
> /move_base/local_costmap/obstacle_layer/parameter_updates
> /move_base/local_costmap/parameter_descriptions
> /move_base/local_costmap/parameter_updates
> /move_base/parameter_descriptions
> /move_base/parameter_updates
> /move_base/result /move_base/status
> /move_base_simple/goal /odom
> /particlecloud /pub_geometry_msgs
> /robot_Arduino_Control/DCmotor
> /robot_Arduino_Status/DCmotor
> /robot_tf /rosout /rosout_agg /scan
> /sub_geometry_msgs /tf /tf_static
> /ultrasonic

Thank you.