Robot Does not go behind the cone

Course Support ROS2 Navigation
1

It doesnt seem to include the construction cone in the costmap. My planner_server file is as shown below:

planner_server:
  ros__parameters:
    expected_planner_frequency: 10.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true
global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.15
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "inflation_layer"]
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      always_send_full_costmap: True

This is how it appears on my rviz2,as you can see there isnt a gray region surrounding the cone:

image
image1242×835 235 KB

2

Hi @HusamArdah ,

I think you are working on the section/chapter that deals with planner configuration.
I remember when I did the course, in this section, there will not be gray region around the cone, but only the laser scan line/dots.
In this section of the chapter, it describes how global planner works, not the local planner. Therefore, in this specific section, you will not get the gray region.
Finish the controller part, that is, local planner, and then you will be able to see the gray region for the cone also.

EDIT: Also the fact is, when you did the mapping of the arena, the cone was not present. Therefore the cone will not get a gray region around it as the cone was placed after the mapping was done. This exercise is also to demonstrate this effect. Any object added to the map after mapping is done, will not have a gray region on the map.

Regards,
Girish