attaching Costmap2DROS object to existing costmaps (i.e. from movebase)
Hi all. I think i'm finally on the right track to solving my problem. If you would like to see the original problem, I asked about it here http://answers.ros.org/question/19085... -- still no responses though :(
I should be able to set up individual layers using specific sensors similar to what is described here: http://answers.ros.org/question/83471...
Ultimately, I'm going to set up 2 static layers, and I need to save the map generated by one of these static layer and I will load it next time the navigation stack runs.
I think the way of doing this is by using accessing the Costmap2DROS C++ object detailed here: http://wiki.ros.org/costmap_2d
Looking at the API, it makes sense that I would be able to create a new one of these objects in a .cpp file, but I don't know how I would go about getting the Costmap2DROS objects that move_base creates when it is launched.
Does anyone have any idea as to how to obtain a C++ interface to the global and local costmaps that move_base instantiates when you run similar launch files to what is on the tutorials? Maybe you can create the object with a parameter such as the topic or node name or something.
Thanks if anyone can help.
Also, i'm on indigo so maybe the Costmap2DROS object is not called that anymore.