将global_costmap和local_costmap中的plugins:obstacle_layer从VoxelLayer更新为ObstacleLayer解决了 The origin for the sensor at (1.99, 2.38, 0.25) is out of map bounds.报错问题,此时局部代价地图会无法正常加载,导致局部路径规划感知不到局部代价地图的变化会撞墙

src/robot_navigation/config/global_costmap_params.yaml

@@ -25,6 +25,6 @@ global_costmap:
 
    plugins:
    - {name: static_layer,     type: "costmap_2d::StaticLayer"}
-   - {name: obstacle_layer,   type: "costmap_2d::VoxelLayer"}
+   - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
 

src/robot_navigation/config/local_costmap_params.yaml

@@ -29,5 +29,5 @@ local_costmap:
     transform_tolerance: 5.0
 
     plugins:
-    - {name: obstacle_layer,   type: "costmap_2d::VoxelLayer"}
+    - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
     - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}