always_send_full_costmap cause aborting of move_base [closed]

edit

Hi,

I'm working with TIAGo from PAL. I have personalized the configuration of the move_base to launch a "map_less" navigation (as suggested here). I have also set always_send_full_costmap: true because I need to read the costmap. In noticed that, when always_send_full_costmap is set to true, the move_base abort the task without attempting any motion, just after received the first goal.

What is the problem?

I attach also my configuration file:

Global costmap:

# Independent settings for the planner's costmap
global_costmap:
  map_type: costmap

  global_frame    : odom
  robot_base_frame: base_footprint

  update_frequency : 10.0
  publish_frequency: 10.0

  transform_tolerance: 0.2

  track_unknown_space: true
  rolling_window: true
  unknown_cost_value : 255

  always_send_full_costmap: true #to avoid the use of updates

  robot_radius: 0.35

  #plugins are loaded on a separate file

  obstacle_laser_layer:
    enabled: true
    observation_sources: base_scan
    combination_method: 0 # can erase static layer

    base_scan:
      sensor_frame: base_laser_link
      data_type: LaserScan
      topic: scan
      expected_update_rate: 0.3
      observation_persistence: 1.0
      inf_is_valid: true
      marking: true
      clearing: true
      raytrace_range: 4.0
      obstacle_range: 3.0

  inflation_layer:
    enabled            : true
    inflation_radius   : 0.1
    cost_scaling_factor: 25.0

Local Costmap

# Independent settings for the local costmap
local_costmap:
  map_type: costmap

  global_frame    : base_footprint #odom
  robot_base_frame: base_footprint

  update_frequency : 10.0 #5.0
  publish_frequency: 10.0 #1.0

  static_map    : false
  track_unknown_space: true
  rolling_window: true
  width         : 7.0 #4.0
  height        : 7.0 #4.0
  resolution    : 0.1 #0.025

  always_send_full_costmap: true #to avoid the use of updates

  robot_radius: 0.35

  #plugins are loaded on a separate file

  obstacle_laser_layer:
    enabled: true
    observation_sources: base_scan
    combination_method: 0 # can erase static layer

    base_scan:
      sensor_frame: base_laser_link
      data_type: LaserScan
      topic: scan
      expected_update_rate: 0.3
      observation_persistence: 1.0
      inf_is_valid: true
      marking: true
      clearing: true
      raytrace_range: 4.0
      obstacle_range: 3.0

  obstacle_sonar_layer:
    enabled: false
    ns: ""
    topics: ["/sonar_base"]
    no_readings_timeout: 0.0
    clear_threshold: 0.20
    mark_threshold: 0.80
    clear_on_max_reading: true

  obstacle_rgbd_layer:
    enabled: true
    observation_sources: rgbd_scan
    combination_method: 1

    rgbd_scan:
      sensor_frame: base_footprint
      data_type: LaserScan
      topic: rgbd_scan
      expected_update_rate: 0.5
      observation_persistence: 0.0
      inf_is_valid: true
      marking: true
      clearing: true
      raytrace_range: 3.5
      obstacle_range: 3.2
      blanking_range: 0.5
      min_obstacle_height: -0.1
      max_obstacle_height: 0.2
      debug: true

  inflation_layer:
    enabled            : true
    inflation_radius   : 0.2 #0.7
    cost_scaling_factor: 50.0 #5.0

move_base

planner_frequency: 2.0
planner_patience : 0.1

controller_frequency: 10.0
controller_patience :  3.0

oscillation_timeout : 10.0
oscillation_distance:  0.2

recovery_behavior_enabled: false
shutdown_costmaps        : false

search_alternative_goals: true
alternative_goals_thresh: 0.5
latch_xy_goal_tolerance: true