Added modified static_layer costmap_2d plugin

launch/azimut3/az3_mapping_robot_nav.launch

@@ -87,7 +87,7 @@
         <param name="base_global_planner" value="navfn/NavfnROS"/>
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser.yaml" command="load" />
+    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
      </node>

launch/azimut3/az3_mapping_robot_stereo_nav.launch

@@ -27,7 +27,7 @@
         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
    		</node>

launch/azimut3/config/base_local_planner_params.yaml

@@ -11,23 +11,16 @@ TrajectoryPlannerROS:
   min_vel_x:  0.24
   max_rotational_vel: 0.5
   min_in_place_rotational_vel: 0.15
-  escape_vel: -0.10
-  holonomic_robot: true
 
   xy_goal_tolerance:  0.20
   yaw_goal_tolerance: 0.20
 
   sim_time: 1.5
-  sim_granularity: 0.025
-  vx_samples: 3
   vtheta_samples: 30
-  controller_frequency: 20
 
-  pdist_scale: 0.6
-  gdist_scale: 0.8
-  occdist_scale: 0.01
-  heading_lookahead: 0.325
-  dwa: true
+  meter_scoring: true
 
-  oscillation_reset_dist: 0.05
-  meter_scoring: false
+#global planner 
+NavfnROS:
+    allow_unknown: false
+    visualize_potential: true

launch/azimut3/config/costmap_common_params.yaml

@@ -6,18 +6,5 @@ footprint_padding: 0.03
 inflation_radius: 0.55
 transform_tolerance: 2
 
-controller_patience: 2.0
-#planner_frequency: 0.2
 
-NavfnROS:
-    allow_unknown: false
 
-recovery_behaviors: [
-    {name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
-    {name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
-]
-
-conservative_clear: 
-    reset_distance: 3.00
-aggressive_clear:
-    reset_distance: 1.84

launch/azimut3/config/global_costmap_params.yaml

@@ -3,5 +3,8 @@ global_costmap:
   robot_base_frame: base_footprint
   update_frequency: 1
   publish_frequency: 1
-  static_map: true
   always_send_full_costmap: true
+  plugins: [
+    {name: static_layer, type: "rtabmap_ros::StaticLayer"},
+    {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+  ]

launch/azimut3/config/local_costmap_params_2d.yaml

@@ -11,15 +11,15 @@ local_costmap:
   origin_x: -2.0
   origin_y: -2.0
 
-  #observation_sources: laser_scan_sensor
-  observation_sources: laser_scan_sensor point_cloud_sensor
+  observation_sources: laser_scan_sensor
+  #observation_sources: laser_scan_sensor point_cloud_sensor
 
   laser_scan_sensor: {
     data_type: LaserScan, 
     topic: base_scan, 
     expected_update_rate: 0.2, 
     marking: true, 
-    clearing: true}
+    clearing: false}
 
   point_cloud_sensor: {
     sensor_frame: base_footprint,
@@ -30,3 +30,4 @@ local_costmap:
     clearing: true,
     min_obstacle_height: 0.05,
     max_obstacle_height: 0.4}
+

launch/azimut3/config/local_costmap_params_3d.yaml

@@ -11,15 +11,15 @@ local_costmap:
   origin_x: -2.0
   origin_y: -2.0
 
-  observation_sources: laser_scan_sensor point_cloud_sensor
-  #observation_sources: point_cloud_sensor
+  #observation_sources: laser_scan_sensor point_cloud_sensor
+  observation_sources: point_cloud_sensor
 
   laser_scan_sensor: {
     data_type: LaserScan, 
     topic: base_scan, 
     expected_update_rate: 0.2, 
     marking: true, 
-    clearing: false}
+    clearing: true}
 
   # assuming receiving a cloud from rtabmap/obstacles_detection node
   point_cloud_sensor: {