[ros-users] problem with navigation using costmap and move_base

[Alexey Zakharov]

Hello everyone,

I would like to use a costmap and move_base package to navigate our robot.
To understand how it works and how to set it up, I started to
experiment with roomba_stage (in diamondback version of ros).

Everything seem fine when I am using a static maps. When I try to enable rolling
window, I get a problem, that a robot navigates inside this rolling
window, but can't
reach further than Unknown Space allows. I visualized everything in
rviz and it seems like
the rolling window doesn't move with the robot accordingly. Laser
scans are published,
costmap has obstacles but Unknown Space doesn't disappear. I have
checked settings
for local_costmap several times, tfs are correct, settings also looks
fine. Here it is:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_link
  update_frequency: 3.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05

Can some one point out, where is a problem?

Thanks in advance.

best regards,
Alexey