Adding obstacles (lines) to costmap
I have a vehicle that uses sbpl to travel through an environment. The vehicle uses lidar to populate the costmap during travel, but data may also be received through other means (visual, other vehicles). Is there a way to populate a costmap using other data?
Currently, I may have obstacle information such as x,y,z position as well as shape information (lenght, width, etc). The only way I can see how to populate the map at the moment is to generate a point cloud with the known obstacle information and then to publish that data.
Another question is whether there is a way to remove that same information from the costmap? For example, what if I travel through the environment near that previous target and find that it is actually not there or has moved?
