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Not sure if I understand you correctly, but the sawtooth shape/pixelization of the costmap happens because space is represented by grid cells with a fixed cell size (typically 5cm). What you could try is reducing the cell size, but that will have various side-effects. The point of the cost map isn´t so much good looks but rather well working obstacle avoidance of the robot. You could try writing your own improved visualization if you absolutely require that.

Not sure if I understand you correctly, but the sawtooth shape/pixelization of the costmap happens because space is represented by grid cells with a fixed cell size (typically 5cm). What you could try is reducing the cell size, but that will have various side-effects. The point of the cost map isn´t so much good looks but rather well working obstacle avoidance of the robot. You could try writing your own improved visualization if you absolutely require that.nicer visualization.