id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
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costmap_subscript/3017_174.txt | 1. If its some static 1-time set zones, services make the most sense to make sure you know they were set or to retry since they're probably important semantic information about the environment and your robot's system behavior that would be unacceptable to just ignore (e.g. keepout zones)
2. For time variant I can ... | |
costmap_subscript/indexhtml_22.txt | # Navigation Concepts ¶ | |
costmap_subscript/indexhtml_90.txt | In a nutshell, REP-105 says that you must, at minimum, build a TF tree that
contains a full ` map ` -> ` odom ` -> ` base_link ` -> ` [sensor frames]
` for your robot. TF2 are the time-variant transformation library in ROS 2 we
use to represent and obtain time synchronized transformations. It is the job
of the glob... | |
costmap_subscript/addingsubscribertocu_30.txt | Is there a way to add a subscriber to a custom costmap layer plugin? If so,
would anyone please tell me how? | |
costmap_subscript/3017_329.txt | ### | |
costmap_subscript/3017_309.txt | I'd start with arbitrary polygons, lines, and circles. Honestly the most
common use here is going to be boxes drawn on screens for keepout zones or
speed zones or something by a non-trained user on a web GUI that's going to be
propagated down here during robot setup. | |
costmap_subscript/3017_59.txt | Open | |
costmap_subscript/3017_252.txt | edited | |
costmap_subscript/3017_486.txt | ### | |
costmap_subscript/addingsubscribertocu_1.txt |
ROS Resources: [ Documentation ](http://wiki.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/r... | |
costmap_subscript/3017_19.txt | * [ Topics ](/topics)
* [ Trending ](/trending)
* [ Collections ](/collections) | |
costmap_subscript/3613_144.txt | No one assigned | |
costmap_subscript/3017_493.txt | Indeed, ` use_max ` indicator is also needed, to define how two or more
objects would intersect in case of both of them are having equal priority. `
use_max ` in this case could be a global ROS-parameter, since one VO-server
instance is implied to be used per one selected filter. | |
costmap_subscript/nav2costmap2d2Fplugi_36.txt | void
StaticLayer::matchSize()
{
// If we are using rolling costmap, the static map size is
// unrelated to the size of the layered costmap
if (!layered_costmap_->isRolling()) {
Costmap2D * master = layered_costmap_->getCostmap();
resizeMap(
master->getSizeInCellsX(), master->getSizeInCellsY(), mas... | |
costmap_subscript/3017_257.txt | The design I would have in mind is a server to read the polygons from file, if
provided. That publishes to a topic that the costmap layer receives. The
costmap layer either stores the vectorized information to populate in the
costmap each cycle, or populates it immediately into a rastered map for use
(whatever's more e... | |
costmap_subscript/3017_203.txt | Hello !
Sorry it took me sometime to update the project but the work is still in
progress [ link
](https://github.com/GMahmoud/virtual_costmap_layer/tree/feature-big-
refactoring) | |
costmap_subscript/3017_112.txt | [
](/SteveMacenski) | |
costmap_subscript/addingsubscribertocu_5.txt | The site is read-only. Please transition to use Robotics Stack Exchange | |
costmap_subscript/3613_108.txt | Cross post with ROS Answers [ https://answers.ros.org/question/416314/robot-
not-navigating-when-using-custom-costmap-layer/
](https://answers.ros.org/question/416314/robot-not-navigating-when-using-
custom-costmap-layer/)
---
All reactions | |
costmap_subscript/3017_219.txt | But I very look forward to this, this is a good compliment to the keepout
filters. Sometimes a mask makes sense, but often a polygon or vector shape
makes sense too! If we add the services to the Python3 Simple Commander, it'll
be stupidly easy to make testing demos with randomly generated obstacles in a
costmap, witho... | |
costmap_subscript/3613_55.txt | Jump to bottom | |
costmap_subscript/nav2costmap2d2Fplugi_32.txt | // initialize the costmap with static data
for (unsigned int i = 0; i < size_y; ++i) {
for (unsigned int j = 0; j < size_x; ++j) {
unsigned char value = new_map.data[index];
costmap_[index] = interpretValue(value);
++index;
}
} | |
costmap_subscript/3017_21.txt | Search or jump to... | |
costmap_subscript/3613_8.txt | * Solutions | |
costmap_subscript/indexhtml_69.txt | Recovery behaviors are a mainstay of fault-tolerant systems. The goal of
recoveries are to deal with unknown or failure conditions of the system and
autonomously handle them. Examples may include faults in the perception system
resulting in the environmental representation being full of fake obstacles.
The clear costma... | |
costmap_subscript/3613_122.txt | **[ SteveMacenski ](/SteveMacenski) ** commented Jun 10, 2023 | |
costmap_subscript/3017_224.txt | **[ GMahmoud ](/GMahmoud) ** commented Oct 6, 2022 • | |
costmap_subscript/3017_92.txt | edited | |
costmap_subscript/3017_381.txt | > The whole map is being stored | |
costmap_subscript/3017_143.txt | Especially in the case of multi-robot networking where things could drop out,
it is very important you know what was successfully added and what wasn't.
Maybe for the long-range planning application it isn't critical, but we need
to act like any user of this work if in Nav2 has critical information that
could prevent a... | |
costmap_subscript/indexhtml_97.txt | The smooth output can be used then for dead-reckoning for precise motion and
updating the position of the robot accurately between global position updates. | |
costmap_subscript/3017_340.txt | * If we have the costmap filters that are the speed / keepout zones, and then we have speed / keepout zones as vectorized options, we probably need some way either in 'branding' and documentation/communication to bin these ideas together if we don't call the vectorized things also "costmap filters" so we can clearly ... | |
costmap_subscript/3017_146.txt | [
](/GMahmoud) | |
costmap_subscript/3017_367.txt | Copy link | |
costmap_subscript/nav2costmap2d2Fplugi_34.txt | x_ = y_ = 0;
width_ = size_x_;
height_ = size_y_;
has_updated_data_ = true; | |
costmap_subscript/3613_75.txt | here is the code repo where I made all the changes according to [ Humble.
](https://github.com/dharanish-
nh/customcostmap/blob/main/nav2_social_costmap_plugin/src/social_layer.cpp) | |
costmap_subscript/nav2costmap2d2Fplugi_47.txt | if (!layered_costmap_->isRolling() ) {
if (!(has_updated_data_ || has_extra_bounds_)) {
return;
}
} | |
costmap_subscript/addingsubscribertocu_23.txt | [ JSLbotbuilder ](/users/145125/jslbotbuilder/)
1 ● 2 ● 3 ● 3 | |
costmap_subscript/3017_74.txt | All reactions | |
costmap_subscript/indexhtml_40.txt | Behavior trees (BT) are becoming increasingly common in complex robotics
tasks. They are a tree structure of tasks to be completed. It creates a more
scalable and human-understandable framework for defining multi-step or many
state applications. This is opposed to a finite state machine (FSM) which may
have dozens of s... | |
costmap_subscript/3017_135.txt | [
](/SteveMacenski) | |
costmap_subscript/3017_154.txt | ### | |
costmap_subscript/3017_464.txt | Sorry, something went wrong. | |
costmap_subscript/3613_136.txt | ### | |
costmap_subscript/3613_119.txt | Copy link | |
costmap_subscript/3017_158.txt | So maybe there are two usecases here: | |
costmap_subscript/3017_39.txt | {{ message }} | |
costmap_subscript/indexhtml_105.txt | Imagine, you’re annotating a map file (or any image file) in order to have a
specific action occur based on the location in the annotated map. Examples of
marking/annotating might be keep out zones to avoid planning inside, or have
pixels belong to maximum speeds in marked areas. This annotated map is called
“filter ma... | |
costmap_subscript/3017_344.txt | Sorry, something went wrong. | |
costmap_subscript/3613_25.txt | [ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax) | |
costmap_subscript/3017_406.txt | Member | |
costmap_subscript/3017_386.txt | I think this was miscategorized. That's a con for D2. D1 is far more simple
conceptually and enables re-use of existing costmap filters just with the
input being from the vector object server, not the map file.
---
All reactions | |
costmap_subscript/3017_178.txt | Sorry, something went wrong. | |
costmap_subscript/3017_295.txt | [
](/SteveMacenski) | |
costmap_subscript/indexhtml_83.txt | Neither is better than the other, it highly depends on the tasks your robot(s)
are completing, in what type of environment, and with what cloud resources
available. Often this distinction is very clear for a given business case. | |
costmap_subscript/3017_137.txt | Member | |
costmap_subscript/3017_513.txt | Sorry, something went wrong. | |
costmap_subscript/indexhtml_115.txt | * “Vector space”, taking in sensor information and using machine learning to detect individual items and locations to track rather than buffering discrete points. | |
costmap_subscript/indexhtml_75.txt | Use of a separate smoother over one that is included as a part of a planner is
advantageous when combining different planners with different smoothers or
when a specific control over smoothing is required, e.g. smoothing ony a
specific part of the path. | |
costmap_subscript/3017_206.txt | Cheers
---
❤️ 1 SteveMacenski reacted with heart emoji | |
costmap_subscript/addingsubscribertocu_21.txt | [ **asked 2023-04-10 14:45:27 -0500 ** ](/questions/414211/revisions/) | |
costmap_subscript/addingsubscribertocu_12.txt | * [ 2d_nav ](/questions/scope:all/sort:activity-desc/tags:2d_nav/page:1/) | |
costmap_subscript/3613_92.txt |
All reactions | |
costmap_subscript/3017_6.txt | Explore | |
costmap_subscript/3613_45.txt | New issue | |
costmap_subscript/3017_245.txt | The proposed initial feature design in attached as [ VO_design_20230131.pdf
](https://github.com/ros-
planning/navigation2/files/10546446/VO_design_20230131.pdf) . Any
comments/feedback are welcoming.
---
All reactions | |
costmap_subscript/3017_440.txt | > Not sure, why do we need to put each shape into separate file? | |
costmap_subscript/indexhtml_53.txt | Alternatively, since the BT nodes are trivial plugins calling an action, new
BT nodes can be created to call other action servers with other action types.
It is advisable to use the provided servers if possible at all times. If, due
to the plugin or action interfaces, a new server is needed, that can be
sustained with ... | |
costmap_subscript/3017_284.txt | Next item to discuss - is shapes design.
Do we plan to support only polygons (+maybe circle), or have an ability of
expansion to other vector objects in the future (e.g. ellipse, arc, sector,
...)? | |
costmap_subscript/3017_477.txt | ### | |
costmap_subscript/nav2costmap2d2Fplugi_48.txt | useExtraBounds(min_x, min_y, max_x, max_y); | |
costmap_subscript/indexhtml_74.txt | As criteria for optimality of the path searched by a planner are usually
reduced compared to reality, additional path refinement is often beneficial.
Smoothers have been introduced for this purpose, typically responsible for
reducing path raggedness and smoothing abrupt rotations, but also for
increasing distance from ... | |
costmap_subscript/indexhtml_78.txt | Waypoint following is a basic feature of a navigation system. It tells our
system how to use navigation to get to multiple destinations. | |
costmap_subscript/3017_139.txt | **[ SteveMacenski ](/SteveMacenski) ** commented Jun 17, 2022 • | |
costmap_subscript/3017_449.txt | Collaborator | |
costmap_subscript/3017_443.txt | Why? We should use a single interface for the shapes. Also I think you mean
services so that you can get a request/reply to know the update / removal /
addition was made. I'm not sure why messages for the polygons would need to
exist if the server is reading from file and populating the occupancy grid. | |
costmap_subscript/3017_223.txt | ### | |
costmap_subscript/3017_149.txt | **[ GMahmoud ](/GMahmoud) ** commented Jun 19, 2022 | |
costmap_subscript/3613_101.txt | Sorry, something went wrong. | |
costmap_subscript/3017_23.txt | Search | |
costmap_subscript/3017_323.txt | Sorry for interjecting in the lovely design discussions, I would just like to
mention that we found another application of such a costmap layer: We have a [
pallet-picking forklift-looking AMR ](https://www.pixel-robotics.eu/) ; to be
able to pick up a pallet aka driving into a pallet, we need to clear the
region on th... | |
costmap_subscript/3017_179.txt | [
](/tonynajjar) | |
costmap_subscript/3017_26.txt | # Provide feedback | |
costmap_subscript/addingsubscribertocu_51.txt | [ Detection of subscriber queue overflow in ROS2?
](/question/414577/detection-of-subscriber-queue-overflow-in-ros2/) | |
costmap_subscript/nav2costmap2d2Fplugi_39.txt | void
StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
{
if (!map_received_) {
processMap(*new_map);
map_received_ = true;
return;
}
std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
map_buffer_ = new_map;
} | |
costmap_subscript/nav2costmap2d2Fplugi_20.txt | declareParameter("enabled", rclcpp::ParameterValue(true));
declareParameter("subscribe_to_updates", rclcpp::ParameterValue(false));
declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
declareParameter("map_topic... | |
costmap_subscript/3613_154.txt | [ 
](/SteveMacenski) [  ](/dharanish-
nh) | |
costmap_subscript/3017_409.txt | edited | |
costmap_subscript/3017_44.txt | * [ Code ](/ros-planning/navigation2)
* [ Issues ](/ros-planning/navigation2/issues)
* [ Pull requests ](/ros-planning/navigation2/pulls)
* [ Actions ](/ros-planning/navigation2/actions)
* [ Projects ](/ros-planning/navigation2/projects)
* [ Security ](/ros-planning/navigation2/security)
* [ Insight... | |
costmap_subscript/3017_28.txt | Include my email address so I can be contacted | |
costmap_subscript/indexhtml_88.txt | ### Standards ¶ | |
costmap_subscript/addingsubscribertocu_44.txt | [ subscribe to rss feed ](/feeds/question/414211/ "subscribe to the rss feed") | |
costmap_subscript/3017_53.txt | By clicking “Sign up for GitHub”, you agree to our [ terms of service
](https://docs.github.com/terms) and [ privacy statement
](https://docs.github.com/privacy) . We’ll occasionally send you account
related emails. | |
costmap_subscript/3017_368.txt | Contributor Author | |
costmap_subscript/3017_482.txt | Sorry, something went wrong. | |
costmap_subscript/3017_322.txt | edited | |
costmap_subscript/3017_530.txt | ### | |
costmap_subscript/3017_191.txt | **[ GMahmoud ](/GMahmoud) ** commented Jun 28, 2022 | |
costmap_subscript/addingsubscribertocu_14.txt | * [ 2DCostmapROS ](/questions/scope:all/sort:activity-desc/tags:2DCostmapROS/page:1/) | |
costmap_subscript/3017_490.txt | Agree, 8-bit value should be OK, since we won't use each own unique priority
per each vector object |
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