Local costmap doesn't detect obstacles untill the robot is too close to the obstacle about navigation2 HOT 5 CLOSED

Yepp, you are right @HazemAshraf11

You can see the PR here: https://github.com/open-navigation/navigation2/pull/2126/files

It can be also found in foxy to galactic migration guide: https://navigation.ros.org/migration/Foxy.html

can we close the issue now @HazemAshraf11 ?

from navigation2.

You said that the problem was when you use the voxel layer right? I only see the config with the obstacle layer. Can you add the problematic config?

Additionally, you're using Foxy? Foxy is end of life and not supported anymore. Can you try to reproduce it on humble or more recent?

from navigation2.

The local costmap doesn't even work when I use a voxel layer, and it gives me this warning "Sensor origin out of map bounds. The costmap can't raytrace for it."
When I use an obstacle layer, the obstacles don't appear in the local costmap until it's too late as you can see in the two pictures.

I am going to use a jetson nano later and it doesn't support Ubuntu 22.04 so I can't use humble.

from navigation2.

I am pretty sure the problem is related to the ( obstacle layer.data source.obstacle_max_range ) parameter. It's default value is 2.5 and indeed the obstacles don't appear in the local costmap if they are more than 2.5 m far from the sensor. After they appear, they stay in this map untill the robot moves and they become out of the 15*15 m^2 square. But when I change this parameter, it doesn't do any thing. it's like it only works with the defined default value.

from navigation2.

I found the problem. It's "obstacle_range" not "obstacle_max_range". In the documentation, it's "obstacle_max_range" but maybe that's for humble

from navigation2.