about costmap

[TT22TY]

Thank you for your great work! I tried with the simple demo in the newest version with "roslaunch pointMap_layer create_globalmap.launch", but it seems that the topic about costmap ( /move_base/global_costmap/costmap and /move_base/local_costmap/costmap） haven't published. I was wondering whether I missed something. Thanks！

[MaverickPeter]

@TT22TY Have you encountered this report in costmap terminal? _"Warning: Invalid argument "/robot0/map" passed to canTransform argument target_frame in tf2 frameids cannot start with a '/' like: " This is caused by the different versions of ROS, you can delete '/' in the params file which I've already updated in the new version of GEM. You can check it.

[TT22TY]

@MaverickPeter Thanks for your reply! The costmap works, however, it seems that the global costmap remains updating at the same place, as the picture shows. I was wondering whether more configuration is needed. Thanks!

[MaverickPeter]

@TT22TY You may change the param https://github.com/ZJU-Robotics-Lab/GEM/blob/099e3a6b972d21d698c3c2bffa2951c786d6704a/layers/params/global_costmap_params.yaml#L12 to true and try it again

[TT22TY]

@MaverickPeter Thanks!

[TT22TY]

@MaverickPeter I have another issue. I try with my dataset(only contains lidar points and /tf)，I use the 'fake_img.py' to generate the fake image. The topic for lidar and image have the same timestamp, as figure 1 shows. I did not use --clock to play the bag, and also set the use_sim_time = false. However, the simple_demos.launch occurs the problem as picture 2 shows, I was wondering how to solve the problem. Thanks!

[MaverickPeter]

@TT22TY I've encountered this issue before, it may be caused by the conflicts in dependencies. In my case, the multiple opencv versions were detected in catkin_make step, but it just gives a warning. I fix this by fixing the version in cmakelists.

[TT22TY]

@MaverickPeter Thanks！