Get obstacle locations from costmap

asked 2014-07-15 10:17:24 -0600

Joe gravatar image

Is there any way to get the positions of all cells containing an obstacle from a costmap? It used to be you could just subscribe to the "obstacles" topic of either the local or global costmap, but that has since changed. It looks like you now need to subscribe to both the costmap (OccupancyGrid) and costmap_updates (OccupancyGridUpdate) topics, but there is very little documentation on what each actually does, or how to get useful data out of it.

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Comments

You are correct. if you have a specific question about how to use OccupancyGrid/OccupancyGridUpdate, update your question.

David Lu gravatar image David Lu  ( 2014-07-15 11:14:38 -0600 )edit

I am curious on who to use this as well since i am working on something similar. Can you update this question?

l0g1x gravatar image l0g1x  ( 2014-08-26 23:56:24 -0600 )edit