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If you increase the value of resolution to have bigger cell size, then costmap generation should be fast,but that depends on your application, you might need smaller resolution for better accuracy.
If you don't want to mess with move_base and planners then you can simply remap velocity in move_base and make a simple node that takes command velocities, and publish them to another topic (remapped topic in move_base) when you call a service.
Of course this is just one method, that I think is easy, there can be more.
| | 2 | No.2 Revision |
If you increase the value of resolution to have bigger cell size, then costmap plan generation should be fast,but that depends on your application, you might need smaller resolution for better accuracy.
If you don't want to mess with move_base and planners then you can simply remap velocity in move_base and make a simple node that takes command velocities, and publish them to another topic (remapped topic in move_base) when you call a service.
Of course this is just one method, that I think is easy, there can be more.
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