id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
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costmap_subscript/3613_102.txt | [
](/SteveMacenski) [ SteveMacenski ](/SteveMacenski) added the [ question
](/ros-planning/navigation2/labels/question) Further information is requested
label Jun 9, 2023 | |
costmap_subscript/3017_379.txt | > StaticLayer | |
costmap_subscript/addingsubscribertocu_7.txt | [ ALL ](/questions/scope:all/sort:activity-desc/page:1/) [ UNANSWERED
](/questions/scope:unanswered/sort:answers-asc/page:1/) | |
costmap_subscript/addingsubscribertocu_24.txt | I am currently writing my own custom costmap plugin for use with the
navigation2 stack. I'm trying to have the costmap layer take the navigation
goal into account when updating costs near it. I've been trying to do this by
adding a subscriber to the custom costmap layer that will pull the position of
the navigation goa... | |
costmap_subscript/3017_47.txt | Pick a username | |
costmap_subscript/indexhtml_82.txt | In the second, the ` nav2_waypoint_follower ` is a nice sample application /
proof of concept, but you really need your waypoint following / autonomy
system on the robot to carry more weight in making a robust solution. In this
case, you should use the ` nav2_behavior_tree ` package to create a custom
application-lev... | |
costmap_subscript/3613_51.txt | Password | |
costmap_subscript/3017_353.txt | * Proc. Design versatility, allowing not only to add vector objects on costmaps, but everywhere, incl. Nav2 maps and Costmap Filters
* Cons1. Performance. The whole map is being stored, updated with VO and then trasferred to the costmaps. VO-Server has no knowledge about rolling Costmap window, so it could operate... | |
costmap_subscript/3613_77.txt |
ros2 launch tiago_2dnav tiago_nav_bringup.launch.py map:=/home/bot/Downloads/map/map.yaml use_sim_time:=true
[INFO] [launch]: All log files can be found below /home/bot/.ros/log/2023-06-09-15-08-46-053379-bot-37395
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server-... | |
costmap_subscript/addingsubscribertocu_33.txt | ## 1 Answer | |
costmap_subscript/3017_416.txt | Sorry, something went wrong. | |
costmap_subscript/3613_46.txt | **Have a question about this project?** Sign up for a free GitHub account to
open an issue and contact its maintainers and the community. | |
costmap_subscript/3613_126.txt | [ 
](/dharanish-nh) | |
costmap_subscript/3017_433.txt | Isn't idea with centralized VO-server, publisging whole rasterized OccGrid map
for the polygons (D1 architecture), will have a performance pitfalls comparing
to separate VO-layer (w/o VO-server architecture D2) in the costmap?
---
All reactions | |
costmap_subscript/nav2costmap2d2Fplugi_51.txt | mapToWorld(x_ + width_, y_ + height_, wx, wy);
*max_x = std::max(wx, *max_x);
*max_y = std::max(wy, *max_y); | |
costmap_subscript/3017_360.txt | Copy link | |
costmap_subscript/3017_121.txt | Copy link | |
costmap_subscript/3017_431.txt | > Assuming the CPU or latency of regularly publishing that out isn't too high,
> then that occupancy grid is then subscribed to by the Costmap Filter plugins
> to interpret the polygons files' shape values to perform some action (e.g.
> speed, keepout, higher cost, lanes, whatever). | |
costmap_subscript/3017_253.txt | I don't think any external server is required, but is certainly an option. We
could have the layer simply take in a file itself which populates the
information. A centralized server for the maps are helpful because there are
many consumers of the map (costmaps, localization, collision checkers,
visualization, etc). If ... | |
costmap_subscript/indexhtml_93.txt | These methods may also produce other output including position topics, maps,
or other metadata, but they must provide that transformation to be valid.
Multiple positioning methods can be fused together using robot localization,
discussed more below. | |
costmap_subscript/addingsubscribertocu_19.txt | * [ ros2-humble ](/questions/scope:all/sort:activity-desc/tags:ros2-humble/page:1/) | |
costmap_subscript/indexhtml_51.txt | These three servers then expose an action interface corresponding to its task.
When the behavior tree ticks the corresponding BT node, it will call the
action server to process its task. The action server callback inside the
server will call the chosen algorithm by its name (e.g. ` FollowPath ` ) that
maps to a specif... | |
costmap_subscript/3017_507.txt | **[ AlexeyMerzlyakov ](/AlexeyMerzlyakov) ** commented Feb 28, 2023 • | |
costmap_subscript/addingsubscribertocu_35.txt | [ **answered 2023-06-15 15:37:42 -0500 ** ](/answers/416541/revisions/) | |
costmap_subscript/3017_184.txt | > [ @tonynajjar ](https://github.com/tonynajjar) so what's your plan here?
> Remake something using that as a reference or wait for it to be ported and
> we can go through some design reviews to patch it up? | |
costmap_subscript/3017_141.txt | > I think services would add too much latency here, in case robot B is moving. | |
costmap_subscript/3017_280.txt | However, this only fair if we have right model of usage/usecases for that.
So, it depends on what do we want: | |
costmap_subscript/indexhtml_91.txt | ### Global Positioning: Localization and SLAM ¶ | |
costmap_subscript/indexhtml_24.txt | ## ROS 2 ¶ | |
costmap_subscript/addingsubscribertocu_34.txt | Sort by » [ oldest ](/question/414211/adding-subscriber-to-custom-
costmap/?sort=oldest#sort-top) [ newest ](/question/414211/adding-subscriber-
to-custom-costmap/?sort=latest#sort-top) [ most voted
](/question/414211/adding-subscriber-to-custom-costmap/?sort=votes#sort-top) | |
costmap_subscript/addingsubscribertocu_28.txt | I figured this was because the Lifecycle node needed to be in the process of
being configured to create a subscriber. So the next thing I attempted to do
was define an on_configure callback to the node within the Layer class. I
attempted to do this via the register_on_configure method. I could not get my
types to match... | |
costmap_subscript/indexhtml_72.txt | It is important to note that the behavior server can hold any behavior to
share access to expensive resources like costmaps or TF buffers, not just
recovery behaviors. Each may have their own API. | |
costmap_subscript/addingsubscribertocu_58.txt | [ Multi Robot simulation on gazebo ](/question/360480/multi-robot-simulation-
on-gazebo/) | |
costmap_subscript/3017_300.txt | edited | |
costmap_subscript/3017_325.txt | Sorry, something went wrong. | |
costmap_subscript/3017_512.txt | I remember there were some points why each shape is better to describe in its
own file, were on the call. But I can not recall exactly is there any specific
point why we should do it, if we are using one VO-server per specific costmap
layer/filter?
---
All reactions | |
costmap_subscript/3017_225.txt | edited | |
costmap_subscript/3017_156.txt | Thanks a lot for your insights [ @SteveMacenski
](https://github.com/SteveMacenski) . I have so far mostly taken inspiration
from the [ costmap_converter ](http://wiki.ros.org/costmap_converter) often
used with the TEB planner, which converts a costmap into polygons and
publishes them as a topic - and thought of what w... | |
costmap_subscript/3017_459.txt | As was expected, KeepoutFilter process time was not dependent on mask size, as
we are processing area inside rolling window.
When we have different mask and global frames, same mask and global frame, the
average mask processing time differs on the ~ similar values: | |
costmap_subscript/3017_152.txt | [ 
](/jplapp) | |
costmap_subscript/nav2costmap2d2Fplugi_49.txt | double wx, wy; | |
costmap_subscript/3613_59.txt | Closed | |
costmap_subscript/3613_145.txt | Labels | |
costmap_subscript/indexhtml_43.txt | One reason this library is used is its ability to load subtrees. This means
that the Nav2 behavior tree can be loaded into another higher-level BT to use
this project as node plugin. An example would be in soccer play, using the
Nav2 behavior tree as the “go to ball” node with a ball detection as part of a
larger task.... | |
costmap_subscript/3017_337.txt | ### | |
costmap_subscript/indexhtml_44.txt | Other systems could be used to design complex autonomous behavior, namely
Hierarchical FSMs (HFSM). Behavior Trees were selected due to popularity
across the robotics and related industries and by largely user demand.
However, due to the independent task server nature of Nav2, it is not
difficult to offer a ` nav2_hfsm... | |
costmap_subscript/3613_114.txt | ### | |
costmap_subscript/3613_9.txt | For | |
costmap_subscript/3017_457.txt | Both mask publishing and receiving times are directly proportional to mask
size. However, map publish time is ~40-100x times higher than map receive
time, so let's focus on it.
This linear dependency is being presented at the picture attached below:
[  | |
costmap_subscript/3613_140.txt | * 👍 1 reaction | |
costmap_subscript/3017_505.txt | Collaborator | |
costmap_subscript/3017_277.txt | * Load vector objects from YAML-file (e.g. as ROS-parameters)
* Waiting for service requests and load vector objects from incoming services data
* Adding/updating vector object from topics, as the [ discussion ](https://github.com/ros-planning/navigation2/issues/3017#issuecomment-1162526689) result: | |
costmap_subscript/addingsubscribertocu_0.txt | First time here? Check out the FAQ! | |
costmap_subscript/indexhtml_27.txt | Just as in ROS, action servers are a common way to control long running tasks
like navigation. This stack makes more extensive use of actions, and in some
cases, without an easy topic interface. It is more important to understand
action servers as a developer in ROS 2. Some simple CLI examples can be found
in the [ ROS... | |
costmap_subscript/3613_15.txt | * Open Source | |
costmap_subscript/3017_291.txt | * * * | |
costmap_subscript/3613_128.txt | Author | |
costmap_subscript/indexhtml_1.txt | latest | |
costmap_subscript/indexhtml_80.txt | However, it could be used for more than just a sample application. There are 2
schools of thoughts for fleet managers / dispatchers. \- Dumb robot; smart
centralized dispatcher \- Smart robot; dumb centralized dispatcher | |
costmap_subscript/3017_517.txt | ### | |
costmap_subscript/indexhtml_112.txt | * gradient maps, which are similar to costmaps but represent surface gradients to check traversibility over | |
costmap_subscript/3017_216.txt | > Add RPC instead of published msgs in order to have the possibility of
> deleting obstacles with uuid identification | |
costmap_subscript/3017_22.txt | # Search code, repositories, users, issues, pull requests... | |
costmap_subscript/3017_446.txt | Sorry, something went wrong. | |
costmap_subscript/3613_19.txt | * [ Topics ](/topics)
* [ Trending ](/trending)
* [ Collections ](/collections) | |
costmap_subscript/3017_358.txt | Sorry, something went wrong. | |
costmap_subscript/3017_198.txt | [
](/GMahmoud) | |
costmap_subscript/3017_453.txt | Performance estimation results of using centralized VO-server (duplicating
from Slack, just for future use): | |
costmap_subscript/3017_30.txt | # Saved searches | |
costmap_subscript/3017_455.txt | * mask preparation time on VO-server
* OccupancyGrid mask publish time on VO-server side
* OccupancyGrid mask receive time on KeepoutFilter side (with [ Improve KeepoutFilter mask receiving performance #3420 ](https://github.com/ros-planning/navigation2/pull/3420) enabled)
* KeepoutFilter process time | |
costmap_subscript/indexhtml_96.txt | [ Robot Localization ](https://github.com/cra-ros-pkg/robot_localization/) is
typically used for this fusion. It will take in ` N ` sensors of various
types and provide a continuous and smooth odometry to TF and to a topic. A
typical mobile robotics setup may have odometry from wheel encoders, IMUs, and
vision fused i... | |
costmap_subscript/3613_22.txt | # Search code, repositories, users, issues, pull requests... | |
costmap_subscript/3017_258.txt | * * * | |
costmap_subscript/3613_118.txt | [
](/SteveMacenski) | |
costmap_subscript/indexhtml_49.txt | These action servers are used to host a map of algorithm plugins to complete
various tasks. They also host the environmental representation used by the
algorithm plugins to compute their outputs. | |
costmap_subscript/indexhtml_57.txt | * Compute shortest path | |
costmap_subscript/indexhtml_48.txt | Four of the action servers in this project are the planner, behavior, smoother
and controller servers. | |
costmap_subscript/indexhtml_8.txt | * [ 4- Run Your Custom plugin ](../plugin_tutorials/docs/writing_new_bt_plugin.html#run-your-custom-plugin)
* [ Writing a New Behavior Plugin ](../plugin_tutorials/docs/writing_new_behavior_plugin.html)
* [ Overview ](../plugin_tutorials/docs/writing_new_behavior_plugin.html#overview)
* [ Requir... | |
costmap_subscript/3017_103.txt | ### | |
costmap_subscript/3017_510.txt |
vo_server:
ros__parameters:
frame_id: "map"
map_topic_name: "vectorized_map"
use_max: True
circles: ["CircleA"]
polygons: ["PolyA", "PolyB"]
CircleA:
center: [0.1, 0.1]
radius: 0.2
priority: 1
fill: true
... | |
costmap_subscript/nav2costmap2d2Fplugi_55.txt | for (int i = min_i; i < max_i; ++i) {
for (int j = min_j; j < max_j; ++j) {
// Convert master_grid coordinates (i,j) into global_frame_(wx,wy) coordinates
layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy);
// Transform from global_frame_ to map_frame_
tf2::Vector3 p(wx, ... | |
costmap_subscript/3017_97.txt | Regarding the production use [ @SteveMacenski
](https://github.com/SteveMacenski) , I think people are using this plugin
differently. Personally, I am using it (not with demo project) to define ` no-
access-zone ` or to help the robot to avoid some ` undetectable ` obstacles
via a web application. | |
costmap_subscript/3613_91.txt | map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 2.0
inflation_radius: 0.45
social_layer:
plugin: "nav2_social_costmap_plugin::SocialLayer"
enabled: True
... | |
costmap_subscript/nav2costmap2d2Fplugi_11.txt | rclcpp::QoS map_qos(10); // initialize to default
if (map_subscribe_transient_local_) {
map_qos.transient_local();
map_qos.reliable();
map_qos.keep_last(1);
} | |
costmap_subscript/3017_307.txt | * This has analogs elsewhere in the stack so it fits into the general workflow established (e.g. inflation, obstacle)
* It doesn't result in smaller, kb sized messages from file resulting in larger mb sized messages communicated at a more regular frequency for updates at runtime. Large messages are a bit of an iss... | |
costmap_subscript/3017_127.txt | Sorry, something went wrong. | |
costmap_subscript/3017_546.txt | Copy link | |
costmap_subscript/3017_366.txt | [
](/tonynajjar) | |
costmap_subscript/3613_26.txt | # Provide feedback | |
costmap_subscript/indexhtml_13.txt | * [ Collision Monitor ](../configuration/packages/configuring-collision-monitor.html)
* [ Features ](../configuration/packages/configuring-collision-monitor.html#features)
* [ Parameters ](../configuration/packages/configuring-collision-monitor.html#parameters)
* [ Polygons parameters ](../confi... | |
costmap_subscript/3017_68.txt | ### | |
costmap_subscript/3017_405.txt | Copy link | |
costmap_subscript/indexhtml_11.txt | * [ StoppedGoalChecker ](../configuration/packages/nav2_controller-plugins/stopped_goal_checker.html)
* [ Default Plugins ](../configuration/packages/configuring-controller-server.html#default-plugins)
* [ Example ](../configuration/packages/configuring-controller-server.html#example)
* [ DWB Co... | |
costmap_subscript/3613_2.txt | [ ](https://github.com/) | |
costmap_subscript/3613_104.txt | Copy link | |
costmap_subscript/3017_426.txt | Not sure, why do we need to put each shape into separate file? If everything
will be described as one ROS-param YAML, having all-shapes in one list (like
we have for [ Collision Monitor
](https://navigation.ros.org/configuration/packages/configuring-collision-
monitor.html?highlight=collision%20monitor#example) ), coul... | |
costmap_subscript/3017_567.txt | * [ Terms ](https://docs.github.com/site-policy/github-terms/github-terms-of-service)
* [ Privacy ](https://docs.github.com/site-policy/privacy-policies/github-privacy-statement)
* [ Security ](/security)
* [ Status ](https://www.githubstatus.com/)
* [ Docs ](https://docs.github.com/)
* [ Contact ](https://... | |
costmap_subscript/3017_123.txt | **[ jplapp ](/jplapp) ** commented Jun 17, 2022 |
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