ROS move_base 节点正在生成 Hydro 前警告

Question

我正在使用导航堆栈中的 move_base。但是，我收到警告

"local_costmap: preHydro parameter "static_map" 未使用，因为提供了 "plugins""

就代价地图定义而言，这里是我一直使用的通用和本地配置文件：

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"}

现在，我已经按照导航教程页面进行操作，该页面正好解决了这个问题，但没有成功。有趣的是，我的全局成本地图在正确接收地图时抛出相同的警告，并显示一条消息 "Recieved a 250x250 map at 0.1 m/px"。我的全局 yaml 文件如下所示：

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"}

Answer 1

static_map 参数已弃用，不再使用。

只需删除 local_costmap 参数中的 static_map: false 行即可使警告消失。

ROS move_base 节点正在生成 Hydro 前警告

ROS move_base node is generating pre-Hydro warning

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