[ros-users] Navigation stack questions [WAS: Wifi communication getting slow]

[Steven Bellens]

[...]
>>
>> There are a few parameters in the costmap that you may want to look at.
>> First, you'll want to make sure that your costmaps are tracking unknown
>> space. Depending on whether you're using a voxel or costmap model for your
>> costmap that may involve different parameters.
>> See: http://www.ros.org/wiki/costmap_2d#Map_type_parameters. You'll also
>> want to make sure that when maps come in from gmapping, the
>> unknown_cost_value is set correctly to recognize unknown space as unknown,
>> see: http://www.ros.org/wiki/costmap_2d#Map_management_parameters. After
>> this, you may want to configure navfn, assuming you're using the default
>> global planner to allow the robot to make plans through unknown space. You
>> can do this by setting the allow_unknown parameter documented
>> here: http://www.ros.org/wiki/navfn#Parameters.
>> Hope this helps and navigation 1.2.3 should be fine for what you want to do,
>> Eitan
>
> Thanks Eitan,
>
> In the meantime, I managed to make some progress. The robot now finds
> plans using a static map, but still rotates a lot and sometimes
> doesn't get his final orientation right. When using a dynamic map, the
> costmap always pops up with this origin out of map warning.
> I'll try your suggestions on monday and let you know if it works out.

I managed to get the navigation working without an a priori map using
gmapping. I added the costmap type (costmap) and configured the
allow_unknown (true) parameter and the unknown_cost_value (-1). To get
the planner to work however, I have to drive the robot around a little
bit at the start, as the origin of the base link falls off the, at
that moment known map. I guess this is how it is supposed to work?
As soon as the robot is in the map, the planner is ok. I did notice
that all unknown space is still filled in as 'obstacle', but to
understand why this is, I'd like to know how the different
configuration parameter files are structured.
The navigation stacks suggests usage of 3 configuration files
(costmap_common, global and local), beside there are other files for
e.g. the navPlanner. I understand the naming scheme of the files, but
can each costmap_2d parameter be configured in every file?
- e.g. can I set the global map as static and the local map as
dynamic? What about the other parameters?
- does the spacing at the start of a line matter?
- sometimes the first line of the file states a name, e.g. 'global
costmap' - what is this for?

regards,

Steven

>
> Steven
>
>>
>>>
>>> Steven
>>>
>>> >
>>> > Steven
>>> >
>>> >>
>>> >>        brian.
>>> >> _______________________________________________
>>> >> ros-users mailing list
>>> >> ros-users at code.ros.org
>>> >> https://code.ros.org/mailman/listinfo/ros-users
>>> >>
>>> >
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>