I am working with move_base from navigation stack. However, I am getting the warning that
"local_costmap: preHydro parameter "static_map" unused since "plugins" is provided"
In terms of costmap definition here are the common and local config files I have been using:
footprint: [ [-0.15,-0.15], [0.15,-0.15], [0.15,0.15], [-0.15,0.15] ]
transform_tolerance: 0.5
map_type: costmap
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 3.5
inflation_radius: 0.2
track_unknown_space: false
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: scanmatcher_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: false}
inflation_layer:
enabled: true
cost_scaling_factor: 1.0
inflation_radius: 0.2
obstacle_layer:
enabled: true
obstacle_range: 5.0
raytrace_range: 1.0
observation_sources: "/scan"
observation_persistence: 0.0
inf_is_valid: false
scan:
data_type: LaserScan
topic: scan
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 0.5
publish_frequency: 0.25
static_map: false
rolling_window: true
width: 50
height: 50
width: 8
height: 8
origin_x: -4
origin_y: -4
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
Now, I have followed the navigation tutorial page which exactly addresses this issue but without success. Interestingly,my global costmap throws the same warning while receiving the map correctly with a message that "Recieved a 250x250 map at 0.1 m/px". My global yaml file looks like this:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 0.5
publish_frequency: 0.25
always_send_full_costmap: true
width: 250
height: 250
origin_x: -125
origin_y: -125
resolution: 0.1
static_map: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
The static_map parameter has been deprecated and is no longer used.
Just remove the static_map: false line inside the local_costmap parameters to make the warning go away.