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how to get a copy of global costmap from move_base

asked 2011-09-26 21:42:06 -0500

harmish gravatar image

updated 2014-01-28 17:10:26 -0500

ngrennan gravatar image

i am writing a package which needs to use global costmap for its calculations. this package does not implement BaseGlobalPlanner, because it is not the task of the package. the global costmap is private variable of move_base and i did not find any way to access it in another package. so my qestion is how do i get the global costmap from move_base for my calculations?

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answered 2011-09-27 11:44:39 -0500

bhaskara gravatar image

If the CPU cost isn't too high, you can also just instantiate a Costmap2DROS object in your node. You need to give it the appropriate ROS parameter definitions — look in the move base launch files and http://www.ros.org/wiki/costmap_2d to see examples.

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answered 2011-09-27 02:30:57 -0500

DimitriProsser gravatar image

Aside from writing a plugin for move_base, I know of no way you can do this at present. Costmap2d has the ability to publish the obstacles, inflated obstacles, and unknown space. If you enable these topics, you'd be able to obtain that information. As for accessing the whole costmap, I think you'd have to modify move_base to do so.

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Asked: 2011-09-26 21:42:06 -0500

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Last updated: Sep 27 '11