Add or remove obstacles in global_map
Hi everyone,
I have a TurtleBot,it's working fine with gmapping and navigation. Now,I want to add an obstacle in the global_map anywhere I want to so that the global_planner can avoid it when the robot navigtes. Some times,I also need to remove the obstacle from the global map.
Can I achieve this goal by creating a new costmap layer? I am a novice and using Hydro with ubuntu 12.04. Could you give me some tips? thank you in advance!
ps: Merry Christmas :)
i believe you are on the right track with the new costmap layer. Just use the costmap layer plugin and you should be able to achieve what you want
Ok, i will have a try. Thanks!
When do you want to add obstacles to the global map? While its running? Before runtime?
@David Lu Anytime I want to. Most of the time is during the robot running. in other words, the obstacles is moving in the global map when the robot navigateing.
That is a non-trivial problem. Creating a custom layer is the way to go, but you'll need a way to input arbitrary data.
Thanks for suggestions @David Lu.