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Costmap layers

asked 2015-04-15 10:12:57 -0500

sobot gravatar image

updated 2015-04-17 07:21:44 -0500


is there a way to insert and remove a costmap2d layer through code (not manually) during an operation?

I want to insert a virtual confinement (i thought its best to do it with map Layers) for my turtlebot and then remove it after a certain condition has been met.

UPDATE: does anyone know of the "Parameter" that can enable/disable a Costmap layer during run time?

Thank you guys :)

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answered 2015-04-15 11:35:27 -0500

David Lu gravatar image

Generally, costmap layers are not changed during runtime. However, you can have a parameter that enables/disables the layer.

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@David Lu thank you very much. can you tell me the name of this parameter and that where i can set it (config file or within the code)? appreciate it.

sobot gravatar image sobot  ( 2015-04-16 14:47:10 -0500 )edit

Most layers have a dynamically reconfigurable parameter called "enabled"

David Lu gravatar image David Lu  ( 2015-04-17 14:56:16 -0500 )edit

@David Lu, Could you please elaborate a little more regarding loading a costmap layer during runtime. Aside from setting the enable parameter via dynamic reconfigure, would it also be necessary to "restart" costmap2DROS so that the new costmap layers are loaded into layeredcostmap?

brettpac gravatar image brettpac  ( 2015-10-22 05:11:26 -0500 )edit

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Asked: 2015-04-15 10:12:57 -0500

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Last updated: Apr 17 '15