hi Daniel,

costmap_2d can definitely be used without stageros.  But it needs a
source of laser data and transforms.  When you comment out stageros
from your launch file, you're no longer feeding any data into the
costmap.  That's why callbacks aren't being invoked.  Laser and
transform data could come from a simulation (e.g., stageros), a
physical robot, or playback of logged data from a bag file
(http://www.ros.org/wiki/Bags).

	brian.

On Mon, Apr 19, 2010 at 6:28 AM, Daniel Maier
<maierd@informatik.uni-freiburg.de> wrote:
> Hi!
>
> I think about using costmap_2d in one of my projects so I played around
> with the costmap_2d_tutorials.
> Is it possible to run the costmap without stageros?
> Here is a launch file I use for bringing up a costmap:
>
> <launch>
>   <param name="/use_sim_time" value="true"/>
>   <node pkg="costmap_2d_tutorials" type="costmap_test" respawn="false"
> name="costmap_test" output="screen">
>     <rosparam file="$(find nav)/costmap_params.yaml" command="load"
> ns="costmap" />
>   </node>
>   <!--
>   <node pkg="stage" type="stageros" name="stageros" args="$(find
> 2dnav_stage)/worlds/willow-pr2-2.5cm.world" respawn="false" >
>     <param name="base_watchdog_timeout" value="0.2"/>
>   </node>
>   -->
> </launch>
>
> If I include the stageros node everything works as expected (I guess).
> If I don't, the laserScanCallback in costmap_2d_ros.cpp is not being
> called.
>
> Here is my costmap_params.yaml file:
>
> global_frame: /odom
> robot_base_frame: Base_link
> update_frequency: 5.0
> publish_frequency: 2.0
> transform_tolerance: 0.3
> obstacle_range: 12.5
> max_obstacle_height: 1.0
> raytrace_range: 13.5
> inscribed_radius: 0.15
> circumscribed_radius: 0.29
> inflation_radius: 0.4
> observation_sources: laser
> laser:
>  data_type: LaserScan
>  expected_update_rate: 0.2
>  observation_persistence: 5.0
>  marking: true
>  clearing: true
>  max_obstacle_height: 0.9
>  min_obstacle_height: 0.08
>
> static_map: false
> rolling_window: true
> width: 10.0
> height: 10.0
> resolution: 0.025
> map_type: voxel
> origin_x: 0.0
> origin_y: 0.0
> origin_z: 0.0
> z_resolution: 0.2
> z_voxels: 10
> unknown_threshold: 6
> mark_threshold: 0
> cost_scaling_factor: 10.0
> lethal_cost_threshold: 100
>
>
> Thanks for your help,
> Dan
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