Dynamic obstacle layer not working on global costmap edit

Hi, I am using the following plugins for global costmap:

plugins:

  • {name: navigation_map, type: “costmap_2d::StaticLayer” }
  • {name: obstacles, type: “costmap_2d::VoxelLayer” }
  • {name: inflation, type: “costmap_2d::InflationLayer” }

and in the same way I use these for my local costmap:

plugins:

  • {name: obstacles, type: “costmap_2d::VoxelLayer” }
  • {name: inflation, type: “costmap_2d::InflationLayer” }

In this context I have 2 scans (front,back) added to my obstacles observation_sources, dynamic obstacles can be seen in the local costmap but not in the global costmap.

I have no idea what could cause that, since it is working in local costmap most trivial problems can be eliminated.

Hi,

I’m pretty sure dynamic obstacles shouldn’t show up in the global costmap. The global costmap is generated from the map image loaded through the map server. This will always be the same and can’t take into account dynamic obstacles.