[ros-users] Costmap_2d_tutorials without stageros?

Daniel Maier maierd at informatik.uni-freiburg.de
Mon Apr 19 13:28:40 UTC 2010


I think about using costmap_2d in one of my projects so I played around  
with the costmap_2d_tutorials.
Is it possible to run the costmap without stageros?
Here is a launch file I use for bringing up a costmap:

   <param name="/use_sim_time" value="true"/>
   <node pkg="costmap_2d_tutorials" type="costmap_test" respawn="false"  
name="costmap_test" output="screen">
     <rosparam file="$(find nav)/costmap_params.yaml" command="load"  
ns="costmap" />
   <node pkg="stage" type="stageros" name="stageros" args="$(find  
2dnav_stage)/worlds/willow-pr2-2.5cm.world" respawn="false" >
     <param name="base_watchdog_timeout" value="0.2"/>

If I include the stageros node everything works as expected (I guess).
If I don't, the laserScanCallback in costmap_2d_ros.cpp is not being  

Here is my costmap_params.yaml file:

global_frame: /odom
robot_base_frame: Base_link
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 0.3
obstacle_range: 12.5
max_obstacle_height: 1.0
raytrace_range: 13.5
inscribed_radius: 0.15
circumscribed_radius: 0.29
inflation_radius: 0.4
observation_sources: laser
  data_type: LaserScan
  expected_update_rate: 0.2
  observation_persistence: 5.0
  marking: true
  clearing: true
  max_obstacle_height: 0.9
  min_obstacle_height: 0.08

static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.025
map_type: voxel
origin_x: 0.0
origin_y: 0.0
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 6
mark_threshold: 0
cost_scaling_factor: 10.0
lethal_cost_threshold: 100

Thanks for your help,

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