no local costmap

edit

I am a little confused with the costmaps and pre hydro paramters, plugins etc...

I am using move base for my navigation and have a prebuild static map included. When launching the navigation there is no local_costmap visible. The global costmap looks like everything is working fine. I did not have this problem a few days ago. I do not remember changing anything... but this makes no sense so I must.

These are my .yaml files:

Costmap_common_params.yaml

footprint: [[-0.29, -0.26], [-0.29, 0.26], [0.29, 0.26], [0.29, -0.26]]

obstacle_layer:

  enabled:              true

  max_obstacle_height:  0.6

  combination_method:   1

  track_unknown_space:  true

  obstacle_range: 2.5

  raytrace_range: 3.0

  observation_sources:  scan_filtered

  scan_filtered:

    data_type: LaserScan

    topic: /scan_filtered

    marking: true

    clearing: true

    min_obstacle_height: 1

    max_obstacle_height: 5

inflation_layer:

  enabled: true

  cost_scaling_factor:  5.0

  inflation_radius:     0.5 


static_layer:

  enabled: true

Local_costmap_params.yaml

local_costmap:

  global_frame: "odom"

  robot_base_frame: "base_footprint"

  update_frequency: 10.0

  publish_frequency: 10.0

  always_send_full_costmap: true

  transform_tolerance: 0.5

  rolling_window: true

  width: 5

  height: 5

  resolution: 0.05

  origin_x: 0.0

  origin_y: 0.0

  plugins:

     {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}

     {name: inflation_layer, type: "costmap_2d::InflationLayer"}

Global_costmap_params.yaml

global_costmap:

  global_frame: "map"

  robot_base_frame: "base_footprint"

  update_frequency: 10.0

  publish_frequency: 10.0

  always_send_full_costmap: true

  transform_tolerance: 0.5

  width: 100

  height: 100

  resolution: 0.05

  origin_x: 0.0

  origin_y: 0.0

  plugins:

     {name: static_layer, type: "costmap_2d::StaticLayer"}

     {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}

     {name: inflation_layer, type: "costmap_2d::InflationLayer"}

I thought I did build the yaml. files correctly without using pre-hydro parameters but I use to get the WARNINGS 'Pre Hydro parameter static_map / map_type unused since plugins is provided... Can anybody tell me why this is?

I hope somebody can help me with this issue. Thank you!

Laura