<div>Eric,</div><div><br></div>Wow... unknown_cost_value should not have been in that section. I fixed that. Also, it turns out that if you specify a 0 character in our documentation template for a default value... its just ignored. So, I've changed it to "0"... which looks a little goofy but at least it shows up.<div>
<br></div><div>Thanks for pointing this out... sorry it was placed so poorly.</div><div><br></div><div>The map_server doesn't actually specify what cells to consider unknown, so its not really like the costmap is overwriting a parameter set elsewhere. Interpretation of a cell as occupied, unknown, or free actually happens at the costmap level.</div>
<div><br></div><div>Sorry again for the confusion,</div><div><br></div><div>Etian<br><br><div class="gmail_quote">On Mon, Sep 20, 2010 at 11:40 AM, Eric Perko <span dir="ltr"><<a href="mailto:wisesage5001@gmail.com">wisesage5001@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Eitan,<div><br></div><div>I did not set that, as the note on that page says "The following parameters are overwritten if "static_map" is set to true" and I had static_map set to true. Is this not the case? Also, is the default value 0? It isn't specified on that documentation page. It might be helpful to separate the documentation such that it specifies not only the default value for overwritten parameters, but the value that it overwrites with as well (obvious for width or height, but not so much for unknown_cost_value, which I would have assumed would match the unknown cost value from map_server).</div>
<div><br></div><div><font color="#888888">- Eric</font><div><div></div><div class="h5"><br><br><div class="gmail_quote">On Mon, Sep 20, 2010 at 2:33 PM, Eitan Marder-Eppstein <span dir="ltr"><<a href="mailto:eitan@willowgarage.com" target="_blank">eitan@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Eric,<br><br><div class="gmail_quote"><div>On Mon, Sep 20, 2010 at 11:19 AM, Eric Perko <span dir="ltr"><<a href="mailto:wisesage5001@gmail.com" target="_blank">wisesage5001@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Eitan,<br><br><div class="gmail_quote"><div>On Mon, Sep 20, 2010 at 1:49 PM, Eitan Marder-Eppstein <span dir="ltr"><<a href="mailto:eitan@willowgarage.com" target="_blank">eitan@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Prasad,<br><div><br></div><div>Sorry for joining the discussion a bit late.</div><div><br></div><div>A couple of things:</div><div><br></div><div>1) The voxel grid tracks unknown space, but its not published in the visualization of the grid. It was just too many cells to render. If you want to see the 2D projection of unknown space in the voxel grid, you can subscribe to the unknown_space topic of the relevant costmap.</div>
</blockquote><div><br></div></div><div>Is this true even if the information comes from the static map? I'm 99% sure we saw all of the unknown space in the static map be reported on the /obstacles topic as an obstacle; even after playing around with some of the parameters for the voxel grid that had to do with unknown space, we still had that problem. This was using a map that came from GMapping and the OccupancyGrid from map_server seemed to have plenty of -1's in it (so it did have the proper thresholds). Needless to say, seeing the majority of a 4000x4000 map all reported as obstacle is a bit intensive...</div>
</div></blockquote><div><br></div></div><div>Did you set the unknown_cost_value parameter? (<a href="http://www.ros.org/wiki/costmap_2d#Map_management_parameters" target="_blank">http://www.ros.org/wiki/costmap_2d#Map_management_parameters</a>). If this is set, and your costmap is tracking unknown space, you should be able to get the costmap to load unknown cells from the static map. If that's not the case, then its a bug in the costmap that I need to track down. Leaving the unknown_cost_value parameter at zero does default to unknown cells being set to occupied in the costmap, so its possible that's what was happening to you.</div>
<div><br></div><div>Let me know how it goes,</div><div><br></div><font color="#888888"><div>Eitan</div></font><div><div></div><div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div class="gmail_quote">
<div><br></div><font color="#888888"><div>- Eric</div></font><div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div> </div></blockquote><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div><br></div><div>2) Publishing visualization information from very large maps can slow the system down. As Eric suggested, setting publish_frequency to 0 for the global_costmap should help things.</div><div><br></div>
<div>
3) Changing the update_frequency from 5.0Hz to 8.0Hz actually makes the map update more frequently so I'm not sure why this resolved anything for you.</div></blockquote><blockquote class="gmail_quote" style="margin-top:0px;margin-right:0px;margin-bottom:0px;margin-left:0.8ex;border-left-width:1px;border-left-color:rgb(204, 204, 204);border-left-style:solid;padding-left:1ex">
</blockquote><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div>4) For large maps, on some machines, I can see it taking some time for AMCL to start up. Do the errors your experiencing go away consistently after AMCL is successfully up and running?</div>
<div><br></div><div>Hope all is well,</div><div><br></div><font color="#888888"><div>Eitan</div></font><div><div></div><div><div><br><div class="gmail_quote">On Mon, Sep 20, 2010 at 4:07 AM, Prasad Dixit <span dir="ltr"><<a href="mailto:abhimohpra@gmail.com" target="_blank">abhimohpra@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><br>
Hello Eric,<br>
I have changed the update rate from 5.0 to 8.0.<br>
Though It is taking lot of time initially to load the map and configuring<br>
likehood model; it worked finally..<br>
Is it something because i have not specified position in AMCL? Is this<br>
taking lot of time to spread initial particles and get exact global position<br>
of robot in the map?<br>
OR is it completely related to hardware which i should update it<br>
finally...??<br>
- Prasad<br>
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