Local costmap does not overlap with global map

iris-ua / iris_lama_ros

LaMa on ROS

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Local costmap does not overlap with global map #56

Open ryujin62 opened 1 year ago

ryujin62 commented 1 year ago

irisLaMa_20221221_3

Dear Sir,

It occurs sometime a trobule that a local costmap does not overlap with the global map in the navigation by move_base using iris_LaMa.

Is this problem due to a non-convergence of iris_LaMa localization caluculation ? OR Is its problem due to a set of parameters that are related with move_base/costmap/dwa ?

Could you like advise to solve this problem ? I send a picture of simulation result. Left side: gazebo Right side: rviz

Best Regards

eupedrosa commented 1 year ago

Hi @ryujin62

It looks to be a problem in your initial estimate. You can use RViz to properly set the pose of the robot. If you look at the global map and the local map, they do not match, they are from different areas of the environment.