pedro-fuoco
September 1, 2023, 7:10pm
19
Done! It works! Finally hahaha
The problem was caused by this issue:
opened 07:47PM - 11 Jan 19 UTC
closed 03:20PM - 14 Jan 19 UTC
I am running cartographer and getting a very nice map. I’m quite pleased with t… his package, the maps it produces, and a few other bells and whistles. Thanks!
I am running into two issues involving cartographer and my global costmap:
1. In rviz, when I click on “global costmap”, it shows no obstacles. There are clearly obstacles in the static map, but they are not showing up in the costmap. Why not?
2. If I have been running the robot for a really long time, I may get a few cells that register as lethal obstacles in the global costmap. (Hooray! Although I don’t know why they show up and why only a few cells are marked that way.) When they do show up, I often get the following error: “update area outside of original map area”. Why does this error occur?
A few other notes:
- I am running ros kinetic.
- I am creating a 2D map with cartographer.
- I have one laserscan and one pointcloud as input to cartographer.
I have put the following files at this [link](https://www.dropbox.com/sh/xxza2ts5h6pm8ct/AACDdrhKxDMy9p4DcNGjKIrqa?dl=0):
- Screenshots of rviz with the static map, laserscan and either the global costmap or local costmap
- My launch file and config file
- A 10-second ros bag
- Output of rqt_graph
- My move_base launch file and associated costmap yaml files
Last thing: when I use gmapping, my global costmap works fine. Since gmapping works fine, and since my global costmap is produced from /map (which is published by cartographer_occupancy_grid_node), I suspect there is something unique about the map that cartographer produces that is causing the global costmap to not work.
Now the focus is to make it work in the main branches for all the repositories involved, so a bunch of PRs are being created in these last few days. A final update on this post will be made soon.
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