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Rotates rolling_window with the robot

asked 2015-03-06 04:57:17 -0600

Stefano Primatesta gravatar image


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.


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answered 2015-03-06 09:57:44 -0600

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.

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Asked: 2015-03-06 04:57:17 -0600

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Last updated: Mar 06 '15