Hello,

I would like to create the local costmap while my robot is navigating based on the camera and more accurately based on the ground color. Indeed, I would like to implement something like "you can't move on/go through on the ground where the color is blue/red/any".

How can I implement it ? I know that the local costmap takes a point cloud or laserscan as input so should I convert ground color to point cloud ? Is there an available package to do so ? Is there another way ?

Thanks in advance for your answer !