Representing multiple attributes in a map in ROS
Hi all,
I am working on a problem where a robot has to navigate around a building which has both glass walls and brick walls. Laser sensors only work for a brick wall so I am using Ultrasound sensors where there is a glass wall.
Currently, you can represent three characteristics in a map (Free, Occupied and Unknown) as mentioned in http://wiki.ros.org/map_server . I am wondering if its possible to represent more characteristics in the same map. For example, Lets say I want to represent a glass wall (occupied) in the map (say, with Red color) in a different way than a brick wall (occupied). Later, I have to use this map for navigation purposes and use only ultrasound sensors where there is a glass wall and laser sensor where there is a brick wall, so I want that information on the map. Is there any existing package which can read such a map and publish it as a service (something similar to map_server for example) or if not, what is the best way to go about it?
Please let me know if anything is not clear.
Thanks in advance.
Naman
