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necessary observation inputs for local costmap generation

asked 2014-08-19 06:51:08 -0500

dreamcase gravatar image

updated 2014-08-19 06:51:31 -0500

hi, All,

in the costmap parameter definition below, are both inputs, laser and point cloud, needed?

observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: base_laser, data_type: PointCloud, topic: point_cloud, marking: true, clearing: true}

can I have only one? say laser_scan_sensor?

thanks ray

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answered 2014-08-19 07:40:46 -0500

David Lu gravatar image

Yes you can. Does something with having only one not work?

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Asked: 2014-08-19 06:51:08 -0500

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Last updated: Aug 19 '14