Eitan, On Mon, Sep 20, 2010 at 1:49 PM, Eitan Marder-Eppstein < eitan@willowgarage.com> wrote: > Prasad, > > Sorry for joining the discussion a bit late. > > A couple of things: > > 1) The voxel grid tracks unknown space, but its not published in the > visualization of the grid. It was just too many cells to render. If you want > to see the 2D projection of unknown space in the voxel grid, you can > subscribe to the unknown_space topic of the relevant costmap. > Is this true even if the information comes from the static map? I'm 99% sure we saw all of the unknown space in the static map be reported on the /obstacles topic as an obstacle; even after playing around with some of the parameters for the voxel grid that had to do with unknown space, we still had that problem. This was using a map that came from GMapping and the OccupancyGrid from map_server seemed to have plenty of -1's in it (so it did have the proper thresholds). Needless to say, seeing the majority of a 4000x4000 map all reported as obstacle is a bit intensive... - Eric > > > 2) Publishing visualization information from very large maps can slow the > system down. As Eric suggested, setting publish_frequency to 0 for the > global_costmap should help things. > > 3) Changing the update_frequency from 5.0Hz to 8.0Hz actually makes the map > update more frequently so I'm not sure why this resolved anything for you. > 4) For large maps, on some machines, I can see it taking some time for AMCL > to start up. Do the errors your experiencing go away consistently after AMCL > is successfully up and running? > > Hope all is well, > > Eitan > > On Mon, Sep 20, 2010 at 4:07 AM, Prasad Dixit wrote: > >> >> Hello Eric, >> I have changed the update rate from 5.0 to 8.0. >> Though It is taking lot of time initially to load the map and configuring >> likehood model; it worked finally.. >> Is it something because i have not specified position in AMCL? Is this >> taking lot of time to spread initial particles and get exact global >> position >> of robot in the map? >> OR is it completely related to hardware which i should update it >> finally...?? >> - Prasad >> -- >> View this message in context: >> http://ros-users.122217.n3.nabble.com/Navigation-stack-not-working-tp1519053p1528384.html >> Sent from the ROS-Users mailing list archive at Nabble.com. >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >