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]

I would suggest deriving your layer from either ObstacleLayer or VoxelLayer, so that you can internally update the costmap_ and voxel_grid_ that they use. That said, I'd also be wondering why you are clearing out laserscan data, which tends to be one of the most reliable/robust types of sensor data, is that really safe and/or the right thing to do?

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.