Chris,<div><br></div><div>When you say that the topic is being published, do you mean it is publishing empty messages? Or that there&#39;s a lot of data in them that looks like it should be displayed in rviz?</div><div><br>
</div><div>Empty messages means that something is likely going wrong in how the navigation stack is getting data from the laser.</div><div><br></div><div>Full messages that aren&#39;t displayed in rviz might be something like a coordinate frame issue.</div>
<div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan</div><div><br><div class="gmail_quote">On Thu, Dec 16, 2010 at 12:36 PM, chris_li <span dir="ltr">&lt;<a href="http://gang.li">gang.li</a>@<a href="http://okstate.edu">okstate.edu</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><br>
Hi all,<br>
<br>
I have followed navigation package tutorial. With the help of this community<br>
I got most of the things working.<br>
<br>
But there is one thing I am still stuck in. I followed<br>
<a href="http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack</a><br>
, trying to use rviz for navigation package.<br>
Everything works except Obstacles(grid cells) and Inflated Obstacles(grid<br>
cells) are not showing.<br>
<br>
I am able to link them to topics : /local_costmap/obstacles and<br>
local_costmap/inflated_obstacles. And If I add Laser Scan to rviz, I can see<br>
the laser scan result that means my hokuyo laser is working fine.  my<br>
hokuyo_node is publishing /scan<br>
<br>
Below is my setup in the yaml file for laser:<br>
<br>
observation_sources: laser_scan_sensor<br>
<br>
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,<br>
marking: true, clearing: true}<br>
<br>
I think /scan is supposed to passing laser scan message which will be turned<br>
into message for /local_costmap/obstacles, isn&#39;t it? If my /scan topic is<br>
functioning then why move_base is not generating local_costmap/obstacles?<br>
(actually I can see the /local_costmap/obstacles topic is being published,<br>
it just can be shown in rviz).<br>
<br>
Could anybody give some advice  on it?<br>
<br>
Thanks.<br>
<br>
Chris<br>
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