[ros-users] Obstacles(Grid Cell) does not show in rviz for naviation package

[Eitan Marder-Eppstein]

Chris,

When you say that the topic is being published, do you mean it is publishing
empty messages? Or that there's a lot of data in them that looks like it
should be displayed in rviz?

Empty messages means that something is likely going wrong in how the
navigation stack is getting data from the laser.

Full messages that aren't displayed in rviz might be something like a
coordinate frame issue.

Hope this helps,

Eitan

On Thu, Dec 16, 2010 at 12:36 PM, chris_li <gang.li at okstate.edu> wrote:

>
> Hi all,
>
> I have followed navigation package tutorial. With the help of this
> community
> I got most of the things working.
>
> But there is one thing I am still stuck in. I followed
>
> http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack
> , trying to use rviz for navigation package.
> Everything works except Obstacles(grid cells) and Inflated Obstacles(grid
> cells) are not showing.
>
> I am able to link them to topics : /local_costmap/obstacles and
> local_costmap/inflated_obstacles. And If I add Laser Scan to rviz, I can
> see
> the laser scan result that means my hokuyo laser is working fine.  my
> hokuyo_node is publishing /scan
>
> Below is my setup in the yaml file for laser:
>
> observation_sources: laser_scan_sensor
>
> laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic:
> /scan,
> marking: true, clearing: true}
>
> I think /scan is supposed to passing laser scan message which will be
> turned
> into message for /local_costmap/obstacles, isn't it? If my /scan topic is
> functioning then why move_base is not generating local_costmap/obstacles?
> (actually I can see the /local_costmap/obstacles topic is being published,
> it just can be shown in rviz).
>
> Could anybody give some advice  on it?
>
> Thanks.
>
> Chris
>
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