Eric, Wow... unknown_cost_value should not have been in that section. I fixed that. Also, it turns out that if you specify a 0 character in our documentation template for a default value... its just ignored. So, I've changed it to "0"... which looks a little goofy but at least it shows up. Thanks for pointing this out... sorry it was placed so poorly. The map_server doesn't actually specify what cells to consider unknown, so its not really like the costmap is overwriting a parameter set elsewhere. Interpretation of a cell as occupied, unknown, or free actually happens at the costmap level. Sorry again for the confusion, Etian On Mon, Sep 20, 2010 at 11:40 AM, Eric Perko wrote: > Eitan, > > I did not set that, as the note on that page says "The following parameters > are overwritten if "static_map" is set to true" and I had static_map set to > true. Is this not the case? Also, is the default value 0? It isn't specified > on that documentation page. It might be helpful to separate the > documentation such that it specifies not only the default value for > overwritten parameters, but the value that it overwrites with as well > (obvious for width or height, but not so much for unknown_cost_value, which > I would have assumed would match the unknown cost value from map_server). > > - Eric > > > On Mon, Sep 20, 2010 at 2:33 PM, Eitan Marder-Eppstein < > eitan@willowgarage.com> wrote: > >> Eric, >> >> On Mon, Sep 20, 2010 at 11:19 AM, Eric Perko wrote: >> >>> 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... >>> >> >> Did you set the unknown_cost_value parameter? ( >> http://www.ros.org/wiki/costmap_2d#Map_management_parameters). If this is >> set, and your costmap is tracking unknown space, you should be able to get >> the costmap to load unknown cells from the static map. If that's not the >> case, then its a bug in the costmap that I need to track down. Leaving the >> unknown_cost_value parameter at zero does default to unknown cells being set >> to occupied in the costmap, so its possible that's what was happening to >> you. >> >> Let me know how it goes, >> >> Eitan >> >> >>> >>> - 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 >>>> >>>> >>> >>> _______________________________________________ >>> 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 >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >