Subscribing a new costmap2DROS object to global_costmap/costmap_updates

asked 2015-09-02 13:57:52 -0600

Naman gravatar image

Hi all,

This question is basically a continuation of my previous question where I created a new costmap2DROS object which subscribes to the global_costmap/costmap which gave me the initial costmap. Now, I want that the same costmap2DROS object should subscribe to the global_costmap/costmap_updates to get the updated costmap. Now, my question is once I subscribe to the global_costmap/costmap_updates, will the global_costmap/costmap automatically include the costmap updates and will be visible in say, RVIZ? I just want to know how can I make sure that the costmap I am using has all the costmap updates with obstacles not present in the static map.
Please let me know if you need more information from my side.

PS: For all the relevant files, please look at my previous question.

Thanks in advance.
Naman Kumar

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