NavFn setting up cost array (costarr) from ROS's costmap
Hi,
The NavFn
planner takes in ROS's costmap created by costmap_2d
package. The input is in the format mentioned here.
Now, when NavFn
reads those values, it refactors everything from the (0, 253) range by the equation COST_NEUTRAL + COST_FACTOR * input_cost_value
which scales all of it proportionally to the (50, 253) range.
Why is this done?
Thank you.