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In your costmap configuration, include the obstacle marking from both sensors using:

observation_sources: laser_scan_sensor us_sensor_data

laser_scan_sensor: {sensor_frame: link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

us_sensor_data: {sensor_frame: link, data_type: Range, topic: /us_data_topic, marking: true, clearing: true}

This will result in data from both sensors to mark obstacles in your costmaps. How you implement

In your costmap configuration, include the obstacle marking from both sensors using:

observation_sources: laser_scan_sensor us_sensor_data

laser_scan_sensor: {sensor_frame: link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

us_sensor_data: {sensor_frame: link, data_type: Range, topic: /us_data_topic, marking: true, clearing: true}

This will result in data from both sensors to mark obstacles in your costmaps. How you implementcostmaps.