Hi.
I am trying to define an obstacle layer in my costmap_common_params.yaml file. As per the tutorial [here](http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps), this is what I have for my layers:
static:
map_topic: /map
first_map_only: true
inflation:
inflation_radius: 0.1
obstacles:
observation_sources: rtabmap
rtabmap: {sensor_frame: /kinect_frame_optical, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}
My local_costmap_params.yaml is then
global_frame: odom
rolling_window: true
plugins:
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
Unfortunately when I start move_base, I get the message
[ INFO] [1483141055.544545392, 135.629000000]: Using plugin "static"
[ INFO] [1483141055.767972141, 135.725000000]: Requesting the map...
[ INFO] [1483141056.074817270, 135.945000000]: Resizing costmap to 2318 X 2368 at 0.005000 m/pix
[ INFO] [1483141056.166230343, 135.976000000]: Shutting down the map subscriber. first_map_only flag is on
[ INFO] [1483141056.248844376, 136.030000000]: Received a 2318 X 2368 map at 0.005000 m/pix
[ INFO] [1483141056.276602131, 136.052000000]: Using plugin "inflation"
[ INFO] [1483140087.785485118, 121.036000000]: Using plugin "obstacles"
[ INFO] [1483140087.988274092, 121.200000000]: Subscribed to Topics: rtabmap
followed some time later by lots of
[ WARN] [1483141579.312730659, 306.346000000]: Request for map failed; trying again...
[ WARN] [1483141581.391496974, 306.847000000]: Request for map failed; trying again...
[ WARN] [1483141583.448695892, 307.347000000]: Request for map failed; trying again...
[ WARN] [1483141584.839228073, 307.848000000]: Request for map failed; trying again...
[ WARN] [1483141586.776772495, 308.348000000]: Request for map failed; trying again...
I assume these errors are due to the obstacles layer, since it has received the static map, and I have first_map_only set to true?
Primarily I cannot understand why move_base is telling me that it is subscribing to topic rtabmap instead of /rtabmap/cloud_map like I specified in my config file. It seems like it is not linking the observation source with its specification, and so is using the default topic (which would be rtabmap according to the [documentation](http://wiki.ros.org/costmap_2d/hydro/obstacles)).
If I change the obstacles layer in my costmap config to
obstacles:
observation_sources: "/rtabmap/cloud_map"
"/rtabmap/cloud_map": {sensor_frame: /kinect_frame_optical, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}
then I do get
[ INFO] [1483140087.785485118, 121.036000000]: Using plugin "obstacles"
[ INFO] [1483140087.988274092, 121.200000000]: Subscribed to Topics: /rtabmap/cloud_map
and rqt_graph shows that rtabmap is publishing /rtabmap/cloud_map to move_base. However, I still get the "Request for map failed; trying again..." errors, and the local_costmap doesn't seem to update in rviz.
If someone could help me with this I'd be very grateful. It's been driving me mad for hours now!
Thanks.
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