Comments (24)
its the clear costmaps recovery that also clears the global costmap. I guess it should be reloaded aftewards but it isn't all the time because of the loading global costmap issue move_base has. Does this happen all the time? I'll remove the clearance from the navigation recovery, this is pretty bad...
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Twice for now, will watch if it happens the next times too.
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anyway, it's clearly a bad idea having it in, at least until we are sure that move_base global costmap loading is working. i'm removing it now
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I think it's not (only?) the clearing. If I start the system with a no-go map, only the no-go map is used to create a costmap, and I get what you see in above pictures. If I start it without the costmap, the real map is correctly used to create a no-go map.
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every time you start it its not loaded?
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our no-go map is usually overlaying the original map so maybe there's an issue with the dual static map layer that we weren't aware of. From what I see your no-go only has the "no-go" obstacles right?
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Yeah, basically a frame around the building. It worked a few days ago as far as I can remember.
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this requires a deeper look into the issue then
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it never loads or is it only once in a while?
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I restarted it three times with no-go map off and three times with no-go map on. All the times no-go map was on, the global-costmap only had a halo around the no-go map; all the times no-go map was off, the global-costmap had a halo around the real map.
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all the times no-go map was off, the global-costmap had a halo around the real map.
Is this really what you wanted to say? If so I'm confused
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I think so. More clearly:
- with_nogo=true -> costmap only around nogo map, not around real map, like screenshots above.
- with_nogo=false -> costmap around real map.
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ah ok, i misunderstood what you meant with "halo around"
I'll look into it, the easy, non system intrusive fix for now is making your nogo map the nogo areas overlaying the map
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i dont really know when/if i'll have time for this before the marathon starts...
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Looking into it a bit myself, otherwise I'll workaround
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you said you remember it working before. were there any changes done to our move base stuff?
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I really don't know when it was last working because I never actively looked for it anymore after I've last verified it worked sometimes last week.
More debugging: It's the inflation layer, which is only using the /cost_map, not the /map. Why, I don't know yet.
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http://wiki.ros.org/hydro/Migration#Navigation_-_Costmap2D
I followed this when we migrated to hydro. Not sure of why I did it like that anyomre
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the lack of inflation layer for the map probably explains why the global planner finds plans through tiny holes in the map though
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I looked through all tutorials and it looks like the inflation layer should just work on the fully "rendered"/combined costmap, and not on an individual layer, so something is weird. I guess I'll work around for now since time is running out.
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Wasn't this exactly what @Jailander provided a fix for?
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i'll open an issue for later
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i dont recall anyone looking at costmap stuff lately but i might have missed it
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closing this, we have an open issue here:
strands-project/strands_movebase#27
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Related Issues (20)
- Online Fremen models update HOT 1
- [topological predictions] Online update of non existent model HOT 1
- [topological localisation] Localise by topic needs to be updated when switching map HOT 1
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- problem with nav help service HOT 2
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- message_store_map_switcher Does not compile HOT 1
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- node_by_node parameter is not being used in topological_navigation
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- remove topo map from db node
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- Move topological_rviz_tools somewhere else? HOT 9
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