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

[Eitan Marder-Eppstein]

Hi,

Could you re-post this question on answers.ros.org?

Listing it there will allow others to benefit from the answer to your
question, as well as providing a forum for dialog that doesn't result in
unnecessary e-mails to the mailing list.

Hope all is well and thanks much,

Eitan

On Mon, Oct 10, 2011 at 4:44 AM, Alexey Zakharov
<alexey.zakharov at gmail.com>wrote:

> 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
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