Christian,
I did exactly what you are trying to do just the other day and was able to
successfully get it to run with one map for AMCL and another for the
navigation stack. Launch file attached.
We then ran into a separate problem, where the LIDAR in the navigation stack
will clear out our static obstacles if it cannot sense them (glass walls or
your 'forbidden zones'), as the static map seems to only be used to seed the
costmaps, not continually make sure that they contain at least the static
map. It also does not get assigned a height when using the voxel grids, so
we were unable to just separate the static map and LIDAR into two different
planes to prevent cross-clearing. Have you encountered this problem with
LIDARs clearing your static_map forbidden zones? Also, do you load the
static map into the costmap for the local_planner as well and if not, how do
you give the local_planner knowledge of the forbidden zones? We are probably
going to address these by creating a PointCloud sensor that reads in maps
and can then be fed into the costmaps just like any other sensor. I'm
interested to see if you came up with a different plan.
- Eric
On Mon, Sep 6, 2010 at 12:26 PM, Christian Verbeek <
verbeek@servicerobotics.eu> wrote:
>
> > So you can remap map to planner_map in the launch file by doing
> > <remap from="map" to="planner_map"/>
> >
> Adam,
>
> I am using the move_base node. Remapping would then also apply to amcl.
>
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