Ask Your Question
0

Rotates rolling_window with the robot

asked 2015-03-06 04:57:17 -0500

Stefano Primatesta gravatar image

Hi,

I've a doubt. Can I use a rolling window in local_costmap that rotates with the robot? Because I'd like use local_costmap rectangular oriented with the robot.

I tried to set local_costmap/global_frame: /base_link. Local_costmap rotates with the robot, but base_local_planner has some problems to navigate in correct mode.

Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2015-03-06 09:57:44 -0500

David Lu gravatar image

The costmap_2d package does not support rotating costmaps.

The rolling_costmap forces the orientation of the costmap to remain stable. This makes it easier to shift the data as the window "rolls". The orientation is a lot more difficult to transform the data, and the costmap does not currently support it.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-03-06 04:57:17 -0500

Seen: 147 times

Last updated: Mar 06 '15