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static layer on local costmap

asked 2015-01-07 21:11:42 -0600

aswin gravatar image

updated 2015-01-07 22:27:37 -0600

Hi, I would like to use a static layer (in /map i.e. global frame) in the local costmap. So when the robot moves, I want the lethal obstacles in this static layer that are also in the local costmap, to be inflated. How do I do this?

I know static layers are usually added in the global costmap, but for a special case I want the local planner to access this information.

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answered 2015-01-08 01:46:57 -0600

fergs gravatar image

There are currently issues with the static_layer and rolling costmaps. A (unmerged) pull request that may fix this can be found here: .

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Doesnt seem to work, or maybe its trying to solve something else. For now, I havegot this to work in two ways:

1) Create a custom layer and mark all intersection points between a static layer and master layer

2) Publish the static map as a sensor(pointcloud) in /map frame for use by ObstacleLayer

aswin gravatar imageaswin ( 2015-01-08 23:21:17 -0600 )edit

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Asked: 2015-01-07 21:11:42 -0600

Seen: 1,217 times

Last updated: Jan 08 '15