how to update the costmap manually in Rviz?

Hello,

I'm wondering if there's a way to manually change the costmap in Rviz.

My goal is: if we have an initial location and a target location, the robot moves as if there's an virtual corridor around the shortest distance path, and everything else, even free space, is considered as obstacles. And this way, if there's a real obstacle on the shortest distance path, the local planner would just stop, instead of going around it.

My thought is to maybe just manually update the costmap, pixel by pixel, so that we can have a costmap representing the virtual corridor as described above, instead of the real costmap. So how is the costmap saved and loaded? Is there a way for us to update it manually? Other suggestions on how to approach this is also welcomed =)

Thanks!

Asked by JJ on 2014-07-10 21:41:05 UTC

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Answers

Hi JJ,

Check out the carrot planner. I think it does what you are looking for.

Good luck and welcome to the forum.

Asked by Martin Peris on 2014-07-10 23:38:43 UTC

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Thanks! This is probably the thing I'm looking for.

One more question, though: I read those ten lines of code on that webpage, but right now I'm a bit confused about where this code would go and how to use it... Any suggestions how I should proceed?

Thanks a lot!

Asked by JJ on 2014-07-14 08:42:23 UTC

You are welcome, in order to use the carrot planner you don't even need to code anything. When you launch the navigation framework, just set the parameter base_global_planner: carrot_planner/CarrotPlanner. Check out the move_base docs here: http://wiki.ros.org/move_base?distro=hydro

Asked by Martin Peris on 2014-07-14 19:12:38 UTC

Martin, How does carrot_planner help to this issue? The aim is to keep the robot within a certain distance of the global path (or inside a virtual corridor). carrot_planner's description says something different.

Asked by ROSCMBOT on 2014-07-18 00:05:22 UTC