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You will have an easier time if you work with the move_base costmap architecture. That model is that move_base loads costmap2d, which in turn loads "layer plugins". The layer-plugins subscribe to a topic and update an internal grid. This is all done by move_base, not by your code. You simply have to publish msgs to a topic in the format the layer plugin wants.
You could create a custom layer plugin, but many of the common use cases already exist.
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You will have an easier time if you work with the move_base costmap architecture. That model is that move_base loads costmap2d, which in turn loads "layer plugins". The layer-plugins subscribe Each layer-plugin subscribes to a topic and update updates an internal grid. This is all done by move_base, not by your code. You simply have to publish msgs to a topic in the format the layer plugin wants.wants e.g. LaserScan.
You could create a custom layer plugin, but many of the common use cases already exist. exist.
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