Insert permanent obstacles in static map

Hi,

I have a static map of the robots environment but there are obstacles distributed in this environment. These obstacles have ar-tags and it is known, that these obstacles are not moving. Up to now I already wrote a node, which subscribes to /map and publishes /modified_map. In the published occupancy map, the permanent obstacles are inserted.

The problem now is, that the global costmap is not updated when a new modified_map is published. Is it possible, that the global costmap is updated with the new map?

Thank you in advance. Jakob

Asked by lute344 on 2017-04-22 16:38:24 UTC

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Did you remap the /map topic in move_base to your new /modified_map? To make sure move_base subscribe to the your /modified_map, try to run the command rostopic info /modified_map and check if move_base is one the subscriber nodes

Asked by DavidN on 2017-04-22 23:03:59 UTC

Thank you for your quick answer. Yes, I remapped the topic and move_base is a subscriber. It seems strange to me, that the topic global_costmap/costmap is not published permanently. Only global_costmap/costmap_updates is published constantly. Is this a normal behavior?

Asked by lute344 on 2017-04-23 02:36:39 UTC

Or is it necessary to trigger a costmap update? If yes, how could I achieve this?

Asked by lute344 on 2017-04-23 02:39:24 UTC

Insert permanent obstacles in static map

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