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You are mistaken that a costmap2d only supports 3 values. (I'm going to describe ros1, someone please correct me anything is different for ros2.)
Internally the costmap2D cell is an 8-bit value. Depending on which API you use to access the costmap, the range of values is either 0-255 or 0-100. Typically many values map to "free" (e.g. 0-252), so you can use this to influence the behavior of the global and local planners. With the proper configuration, these planners will create paths that prefer cells with lower value (cost values closer to 0.)
Costmap2D already allows you to create "pathways" within a large area of free cells.
| | 2 | No.2 Revision |
You are mistaken that a costmap2d costmap2D only supports 3 values. (I'm going to describe ros1, someone please correct me anything comment if any of this is different for ros2.)
Internally the costmap2D costmap2D cell is an 8-bit value. Depending on which API you use to access the costmap, the range of values is either 0-255 or 0-100. Typically many cost values map to "free" (e.g. 0-252), so you can use this to influence the behavior of the global and local planners. With the proper configuration, these planners will create paths that prefer cells with lower value (cost values closer to 0.)
Costmap2D costmap2D already allows you to create "pathways" within a large area of free cells.
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