[ROS Q&A] 168 - What are the differences between global and local costmap

* Get all the ROS code of the video in this link: www.rosject.io/l/c354a44/
In the following video, we are going to explain, using a simple example with Summit XL robot, what are the main differences between the global costmap and the local costmap.
Autonomous Mobile Robots Webinar: bit.ly/2z7Zbh0
// RELATED LINKS
▸ Robot Ignite Academy: bit.ly/2AcIz7z
▸ ROS Development Studio (ROSDS): bit.ly/2AgoFsn
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Feedback
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Did you like this video? Do you have questions about what is explained? Whatever the case, please leave a comment on the comments section below, so we can interact and learn from each other.
If you want to learn about other ROS topics, please let us know on the comments area and we will do a video about it.

[@teetanrobotics5363]

one of the best explanations ever and that's why we are the biggest fans of the channel. Could you please also explain the A* and RRT planning algorithms ?

[@TheConstruct]

Thanks for the support and for the suggestion about the subjects to explain. Please let us consider it inside our plan of videos

[@hasanmansour6849]

Thank you for your effort. I love your videos especially the Q&A series,
Honestly this particular explanation was confusing. It is clear that your configuration of the global cost map made it very similar, if not identical, to the local cost map. I would love to hear why did you (and many other robots) used this config? Why did you add newly detected obstacles to the global costmap? Won't that defeating the purpose of having two costmaps and two path planners?

[@masoumehrah6159]

hi, after adding a new object to gazebo, the vehicle cannot bypass it, and it hits the object, why??

[@Challean88]

anyone know what is the blue and tael color from the wall in local costmap? i had made a try but the tael color radius are too big. i was unable to reduce it even via rqt_reconfigure

[@nouralaa6787]

How to change or add values in Costmap ??

[@maggiemaralit9486]

Hello, Sir. Clearly, your initial explanation was that the global costmap is solely based on the static map, and that local costmap is solely based on the data from the sensor (say, laser). My question is, when there's a new obstacle detected by the laser (like what you did on this video), I would understand that local costmap would automatically be updated. But why is global costmap also automatically updated with that new obstacle? I assumed that in around 11:40 and 17:40 of this video, if you tried to disable the local costmap visibility (the colorful lines), we should not have seen the global costmap recognizing that new obstacle (the black lines). But instead, we can still see it. Please explain this.

[@TheConstruct]

Hello Maggie! This is because, for this configuration, we have added the VoxelLayer (which is very similar to the ObstacleLayer) and provides information from the sensors to the Global Costmap, as explained in 12:51

[@povendhanpalanisamy4744]

Although I appreciate many of your videos, I honestly think the explanations were not accurate for this video.