ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Can map_server connect to costmap_2d directly with message or service?

asked 2014-11-15 01:31:58 -0600

scopus gravatar image

Hi, all, I want to implement a node that implementing some functionalities based on the map which have to use the costmap_2d. I hope that costmap_2d should received the message from map_server. However, I found there is no direct message exchange betweer map_server and costmap_2d, i.e. not topics or services between them. It seems that the move_base node has to launched beforehand.

Does somebody know that there is some direct way to connect them by launching only map_server and costmap_2d node?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-11-15 14:18:53 -0600

David Lu gravatar image

You should be able to create an instance of costmap_2d that directly subscribes to the map. If you're using Hydro or later, make sure you are using the StaticMap layer. If you are using a version earlier than hydro, make sure ~static_map is set to true.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2014-11-15 01:31:58 -0600

Seen: 123 times

Last updated: Nov 15 '14