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magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
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Teb costmap conversion plugin doesn't work with move base flex #276

Closed IdanAviv89 closed 2 years ago

IdanAviv89 commented 2 years ago

Hi, I want to transfer my project from move base to move base flex. I am using the the teb local planner with the costmap conversion plugin (costmap_converter::CostmapToLinesDBSRANSAC). When I run it with move base flex I get the following message: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. while in move base it working fine: Costmap conversion plugin costmap_converter::CostmapToLinesDBSRANSAC loaded.

Here is the launch file for the move base flex (using the exact same file as in move base):

   <node name="move_base_flex" pkg="mbf_costmap_nav" type="mbf_costmap_nav" required="true" output="screen" clear_params="true">
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/costmap_common_params.yaml" command="load" ns="global_costmap"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/costmap_common_params.yaml" command="load" ns="local_costmap"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/local_costmap_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/global_costmap_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/teb_local_planner_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/move_base_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/global_planner_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/navfn_global_planner_params.yaml" command="load"/>
        <rosparam file="$(find navigation)/robot/turtlebot_navigation/param/teb/costmap_converter_params.yaml" command="load" /> 
        <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
        <remap from="odom" to="$(arg odom_topic)"/>
        <remap from="scan" to="$(arg laser_topic)"/>
    </node>

Do you have an idea how could I fix this problem?