Arun,

There is a parameter that you need to set for the costmap to publish
visualization information. I believe the parameter is called
publish_frequency, and you'll want to make sure its set to something other
than 0.0. If you don't set this parameter, nothing will be published by the
costmap. You can find documentation on the costmap and its associated
parameters here: www.ros.org/wiki/costmap_2d.

Hope this helps,

Eitan

On Apr 28, 2010 9:23 AM, "arun kumar" <arun.sriram2008@gmail.com> wrote:

Hey,

    I am trying to create a costmap using the COstmap_2d::Costmap2dros
wrapper. I have all the proper parameters set up for the map and I have a
pointer that points to the map that is created. I also do COstmap->start
after I initialise the costmap. But, the costmap that I create doesnt seem
to be publishing anything like the Inflated Obstacles or the Free space etc.
DO I have to do some other stuff to get the costmap to publish this
information?  Also, how can I check to see if the map is correctly being
initialised? Thanks for your help..

Arun

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