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How can I visualize the costs of the proxemics layer?

asked 2015-01-19 10:00:23 -0500

zeinab gravatar image

Hi, I am trying to use the social navigation layer of the people stack. I have a node which gives me the relative positions of the people in front of the depth camera and I would like to incorporate this information into the navigation costmap. So far I can see the added social layer in the costmap when I run rqt_reconfigure but I was wondering if there is a way to visualize the costs of that layer in rviz.

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answered 2015-01-19 11:59:39 -0500

David Lu gravatar image

You can visualize the costmap by adding a Map type display to rviz connected to the COSTMAP_NAMESPACE/costmap topic. This assumes that COSTMAP_NAMESPACE/publish_frequency is greater than 0.

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Thank you for your response. My social costmap was not properly configured. That was why I could not see it in the local or global costmap visualization.

zeinab gravatar image zeinab  ( 2015-01-20 08:10:42 -0500 )edit

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Asked: 2015-01-19 10:00:23 -0500

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Last updated: Jan 19 '15