[ros-users] Costmap_2d_tutorials without stageros?

[Daniel Maier]

Hi Eitan,

Thanks for the hint. I tried it with the -b option and now I receive the  
following warning:

[ WARN] 1270644364.295866960: Costmap2DROS transform timeout. Current  
time: 1270644364.2959, global_pose stamp: 1260460808.9770, tolerance:  
0.3000

which is caused by Costmap2DROS calling ros::Time::now() to check the  
validity of the tfs.
I guess stageros republishes my laser messages as base_scan with a shifted  
timestamp so the problem does not occur in this case.

Is there any way around this?
Dan

On Mon, 19 Apr 2010 18:45:14 +0200, Eitan Marder-Eppstein  
<eitan at willowgarage.com> wrote:

> Dan,
>
> Are you publishing time when you playback the bag? If not, this could be  
> the
> problem. Try using the "-b" option of rosplay to publish simulation time.
> Stageros does this by default so that could be why things work from the  
> bag
> when the simulator is up, but not otherwise.
>
> Hope this helps,
>
> Eitan
>
>
> On Mon, Apr 19, 2010 at 8:35 AM, Daniel Maier <
> maierd at informatik.uni-freiburg.de> wrote:
>
>>
>> On Mon, 19 Apr 2010 16:52:42 +0200, Brian Gerkey  
>> <gerkey at willowgarage.com>
>> wrote:
>>
>> > hi Daniel,
>> >
>> > costmap_2d can definitely be used without stageros.  But it needs a
>> > source of laser data and transforms.  When you comment out stageros
>> > from your launch file, you're no longer feeding any data into the
>> > costmap.  That's why callbacks aren't being invoked.  Laser and
>> > transform data could come from a simulation (e.g., stageros), a
>> > physical robot, or playback of logged data from a bag file
>> > (http://www.ros.org/wiki/Bags).
>> >
>> >       brian.
>>
>> Hi Brian,
>>
>> Thanks for your answer. I think I missed to provide some information.
>> My laser data is stored in a bag file and published by rosbag in the  
>> topic
>> /laser.
>> The frame_id of /laser is /Laser_frame.
>> /odom is the odometry frame and /Base_link the first (and only) child of
>> /odom representing the robot base.
>>
>> So my tf tree looks (simplified) like this:
>> /odom-> /Base_link -> /Pantilt_link -> /Laser_frame
>>
>> With stageros running the costmap created by the costmap_2d_tutorial  
>> node
>> seems to be using my laser data from the aforementioned bag file.
>> If I outcomment stageros in the launch file, nothing happens.
>> In both cases I am using the same costmap_params.yaml file.
>>
>> Any ideas?
>> Best,
>> Dan
>>
>>
>> >
>> > On Mon, Apr 19, 2010 at 6:28 AM, Daniel Maier
>> > <maierd at informatik.uni-freiburg.de> wrote:
>> >> Hi!
>> >>
>> >> 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:
>> >>
>> >> <launch>
>> >>   <param name="/use_sim_time" value="true"/>
>> >>   <node pkg="costmap_2d_tutorials" type="costmap_test"  
>> respawn="false"
>> >> name="costmap_test" output="screen">
>> >>     <rosparam file="$(find nav)/costmap_params.yaml" command="load"
>> >> ns="costmap" />
>> >>   </node>
>> >>   <!--
>> >>   <node pkg="stage" type="stageros" name="stageros" args="$(find
>> >> 2dnav_stage)/worlds/willow-pr2-2.5cm.world" respawn="false" >
>> >>     <param name="base_watchdog_timeout" value="0.2"/>
>> >>   </node>
>> >>   -->
>> >> </launch>
>> >>
>> >> 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
>> >> called.
>> >>
>> >> 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
>> >> 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,
>> >> Dan
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