Navigation stack with "different" sensors
Hi all. If this question has been asked somewhere else, please direct me instead of repeating =).
Essentially I'm tasked with making a p3-at base navigate a course such that it can't go over "white lines" marked on the ground or run into random barrels placed throughout the course.
The base has a sick lms100 laser scanner which gmapping will be running on to localize and it will also be fed into the navigation stack to add the barrels onto the costmap.
We're working on a camera that will ultimately output the "white lines" as laser scanner data. This, however, won't have much of a range, and I think this can be specified in the laser msg.
The problem I envisage occurring is that the LMS100 is going to clear a lot of what the camera is going to pick up.
I was thinking a way to counteract this would be to run cost_map2d individually for both scanners then essentially superimposed these two maps and this will be the one that gets inflated and used to navigate by move_base.
Have other users ever encountered similar situations and went about it this way or another?
Essentially, it's two scanning sources that aren't detecting the same thing (i.e. barrels @ a certain height for the lms100 and lines on the ground for the camera).
Will superimposing the costmaps take too much time?
Maybe the navigation stack already incorporates this by tying the sensor source to each pixel of an obstacle, but I doubt it.
If I went with my plan, I could then seed each map with its own initial map, and it shouldn't overwrite it because of the individual sensor ranges?
If any guidance can be given I would be greatly appreciative.
