ROS move_base节点正在生成Hydro预警

Question

我正在使用导航堆栈中的move_base。然而，我收到了的警告

local_costmap:preHydro参数"static_map"未使用，因为提供了"插件">

在成本图定义方面，这里是我一直在使用的常见和本地配置文件：

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，我已经关注了导航教程页面，它准确地解决了这个问题，但没有成功。有趣的是，我的全局成本图在正确接收地图时发出了同样的警告，并显示一条消息"以0.1 m/px接收到一个250x250的地图"。我的全局yaml文件如下：

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参数已被弃用，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。