Add or remove obstacles in global_map
Hi everyone,
I have a TurtleBot,it's working fine with gmapping and navigation. Now,I want to add an obstacle in the globalmap anywhere I want to so that the globalplanner can avoid it when the robot navigtes. Some times,I also need to remove the obstacle from the global map.
Can I achieve this goal by creating a new costmap layer? I am a novice and using Hydro with ubuntu 12.04. Could you give me some tips? thank you in advance!
ps: Merry Christmas :)
Asked by Yijia on 2014-12-24 21:26:35 UTC
Comments
i believe you are on the right track with the new costmap layer. Just use the costmap layer plugin and you should be able to achieve what you want
Asked by l0g1x on 2014-12-25 04:20:17 UTC
Ok, i will have a try. Thanks!
Asked by Yijia on 2014-12-25 06:18:11 UTC
When do you want to add obstacles to the global map? While its running? Before runtime?
Asked by David Lu on 2014-12-25 21:11:54 UTC
@David Lu Anytime I want to. Most of the time is during the robot running. in other words, the obstacles is moving in the global map when the robot navigateing.
Asked by Yijia on 2014-12-25 21:20:06 UTC
That is a non-trivial problem. Creating a custom layer is the way to go, but you'll need a way to input arbitrary data.
Asked by David Lu on 2014-12-26 11:37:28 UTC
Thanks for suggestions @David Lu.
Asked by Yijia on 2014-12-27 02:17:31 UTC