Costmaps - FontysAtWork/ESA-PROJ GitHub Wiki

Marking no-go zones

In order to mark no-go zones we've written a custom ROS package. This package gives an interface to draw lines on a map. This map can then be saved to file for later use. We made this decision because we wanted to use the move base costmap mechanism. This makes it possible to layer multiple map files to a single costmap.

Also we create a way to draw these no-go lines from the user interface. See the interface for more information on how to do this.

Global costmap params

During testing, we noticed the robot having some drift. In an early attempt to counter it, before properly merging the LiDAR outputs, we increased the resolution:

Original : resolution: 0.05 (5cm) New: resolution: 0.01 (1cm)

This proved to be counterproductive however, since ROS had trouble keeping up and the update times increased, so we set the resolution back to 5cm again.