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layered costmap: How to start a local costmap?

asked 2014-03-31 20:47:43 -0500

madmax gravatar image

updated 2016-10-24 08:59:21 -0500

ngrennan gravatar image

I am wondering where the resizing should be taking place.
With the global costmap and a static layer, the map gets resized when a map comes in.
But when I use the local costmap with just an obstacle, footprint and inflation layer there should be a point where the dimension should be read in.
Can you tell me where this should happen? Can't find it...

I am on ROS Hydro with the hydro-devel navigation branch.

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answered 2014-03-31 23:30:54 -0500

demmeln gravatar image

I have not worked with this directly, but looking at the example launch and parameter files, it seems there are parameters specifying the dimenstions: https://github.com/ros-planning/navig...

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Well, I found it. It's only read in over dynamic reconfigure and I don't use it!

madmax gravatar image madmax  ( 2014-03-31 23:59:51 -0500 )edit
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answered 2014-04-04 12:17:59 -0500

paulbovbel gravatar image

You can still set a width and a height parameter in the root of the costmap's rosparams.

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Asked: 2014-03-31 20:47:43 -0500

Seen: 435 times

Last updated: Apr 04 '14