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costmap_2d python interface?

asked 2014-07-08 13:03:08 -0600

lucasw gravatar image

updated 2020-11-21 11:23:28 -0600

Does it exist? Or is there a way to have a running costmap_2d instance, but interact with it primarily through standard ros interfaces so that python could be used on the one end at least?

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answered 2014-07-08 15:06:08 -0600

David Lu gravatar image

Short answer: no.

Longer answer: Previous question about navigation+python

Follow up: what are you trying to do?

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Follow up answer in the form of an answer, which is legitimate because it also answers my own question sort of.

lucasw gravatar image lucasw  ( 2014-07-10 22:30:08 -0600 )edit

answered 2014-07-10 22:39:01 -0600

lucasw gravatar image

I was trying to make a simple nav_goal to cmd_vel generator outside of the move_base architecture and in python but still using as much of the supporting components as possible. I ended up bringing up costmap_2d somewhat similar to and have a python node that subscribes to the nav goal and transforms it to the base_link frame, generates a cmd_vel directly from that, and calculates the cost of the costmap of the overlap of the footprint and the subscribed costmap (which has a low 160x120 resolution and low update rate, so not a lot of performance problems there) and slows down the cmd_vel when cost is increasing and too high.

A while back I was trying to get the full move_base working, and it sort of did (it never commanded linear_y even though I configured it to be holonomic) but I decided it was easier to go with something more crude until I could devote enough effort to move_base. But I might also use OMPL in python to add obstacle avoidance as another intermediate step.

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Asked: 2014-07-08 13:03:08 -0600

Seen: 1,733 times

Last updated: Jul 10 '14