Hi,

Could you re-post this question on answers.ros.org?

Listing it there will allow others to benefit from the answer to your question, as well as providing a forum for dialog that doesn't result in unnecessary e-mails to the mailing list.

Hope all is well and thanks much,

Eitan

On Mon, Oct 10, 2011 at 4:44 AM, Alexey Zakharov <alexey.zakharov@gmail.com> wrote:
Hello everyone,

I would like to use a costmap and move_base package to navigate our robot.
To understand how it works and how to set it up, I started to
experiment with roomba_stage (in diamondback version of ros).

Everything seem fine when I am using a static maps. When I try to enable rolling
window, I get a problem, that a robot navigates inside this rolling
window, but can't
reach further than Unknown Space allows. I visualized everything in
rviz and it seems like
the rolling window doesn't move with the robot accordingly. Laser
scans are published,
costmap has obstacles but Unknown Space doesn't disappear. I have
checked settings
for local_costmap several times, tfs are correct, settings also looks
fine. Here it is:

local_costmap:
 global_frame: /odom
 robot_base_frame: /base_link
 update_frequency: 3.0
 publish_frequency: 2.0
 static_map: false
 rolling_window: true
 width: 4.0
 height: 4.0
 resolution: 0.05

Can some one point out, where is a problem?

Thanks in advance.

best regards,
Alexey
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