Static route validation using costmap
I am trying to implement a validator for routes on a given map. The idea is that a user can define a route using a JSON scheme which is then checked against a costmap generated from a static map of the building in order to determine whether the route can be traversed. Ideally, the whole thing should run on a server without any robots involved.
I am new to ROS and am having a few difficulties figuring out the dependencies between the map_server and the costmap. Here's what I tried so far:
I have the map of the building and the corresponding YAML file and have started the map server using
rosrun map_server map_server map.yaml
.I tried running
rosrun costmap_2d costmap_2d_cloud
, which produces no output on the console.In rviz, I can add the
voxel_marked_cloud
andvoxel_unknown_cloud
topics published by costmap, but they are not displayed.rqt_graph shows me that costmap is not subscribed to the
/map
topic published by map_server:I have tried starting the costmap with YAML config files using parameters
static_map: true
andpublish_voxel_map: true
, but to no avail.
What am I doing wrong? Currently I am just trying to get a static costmap to display from a map image and failing.