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hi, i have a little problem, if my localcostmap.yaml set's
static_map:true
rolling_window:false
my costmap works. but i wanna us it as a rolling window, so when i change the confoig to :
static_map:false
rolling_window:true
the map does not display anything in rviz, are there additional parameters which i need to set or change if i use the rolling_window ?
You have to make sure that you also set the size of the rolling window appropriately:
rolling_window: true
width: 15.0
height: 15.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
When using a static map, the width and height are determined using the loaded image. In a rolling window, you must manually specify these parameters for your robot. Just know that it places your robot in the center of the rolling window, so the robot can only see things that are height/2 meters away.
Asked: 2012-07-25 23:39:19 -0600
Seen: 2,405 times
Last updated: Jul 26 '12
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What do you mean by "the map does not display anything"? The costmap isn't registering obstacles?
yes