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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?
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.
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.
Asked: 2011-09-26 21:42:06 -0500
Seen: 2,321 times
Last updated: Sep 27 '11
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