fetch_depth_layer can't work in my robot

[chengwei0427]

First of all, thank you for your open source for this project

I am new to ROS, and I want to test the fetch_depth_layer. I download the fetch_depth_layer ,put it in the folder "catkin_ws/src", and compile the source use "catkin_make -DCATKIN_WITHELIST_PACKAGES="fetch_depth_layer". successful~~ use node pkg move_base here is my local_costmap_params.yaml

`local_costmap:
global_frame: /odom robot_base_frame: /base_link cost_scaling_factor: 0.5
inflation_radius: 0.35 #0.45 update_frequency: 3 publish_frequency: 3 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.025 transform_tolerance: 1.0 map_type: costmap

plugins:

• {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
• {name: fetch_depth_layer, type: "costmap_2d::FetchDepthLayer"}

  - {name: simple_layer, type: "simple_layer_namespace::SimpleLayer"}

  - {name: grid_layer, type: "simple_layer_namespace::GridLayer"}

• {name: inflation_layer, type: "costmap_2d::InflationLayer"} `

here is my costmap_common_params.yaml

`inflation_layer:

obstacle_range: 2.5

raytrace_range: 3.0

cost_scaling_factor: 0.5 inflation_radius: 0.35 #0.45 robot_radius: 0.2 #0.4

obstacle_layer: obstacle_range: 2.5 raytrace_range: 3.0 max_obstacle_height: 1.7 min_obstacle_height: 0.01 observation_sources: scan scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 40, inf_is_valid: true}

fetch_depth_layer: depth_topic: /camera/depth/image_raw # from kinect info_topic: /camera/depth/camera_info # from kinect observations_separation_threshold: 0.2 ground_orientation_threshold: 1.2 publish_observations: true publish_points: true clear_nans: true find_ground_plane: false

grid_layer: observation_sources: scan scan: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}`

run the move_base pkg , I can't get the clearing_obs and marking_obs in rviz

what's wrong with me? I can't remove the ground use "fetch_depth_layer",can you help me? Thank you in advance!

[mikeferguson]

If you are using the navigation stack with a Fetch or Freight robot, please use the fetch_navigation package configurations. If you have issues with those packages on your Fetch robot, I suggest posting to the fetch-users group or opening a support ticket with Fetch Robotics.

While the licensing certainly allows you to use these packages on other robots, we only officially support the packages on Fetch and Freight robots (which is why we don't have extensive documentation on how to configure these packages on other robots).