Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Aside from writing a plugin for move_base, I know of no way you can do this at present. Costmap2d has the ability to publish the obstacles, inflated obstacles, and unknown space. If you enable these topics, you'd be able to obtain that information. As for accessing the whole costmap, I think you'd have to modify move_base to do so.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.