How to not use laser data for navigation?
I'd like to prevent the local planner from using laser data, but I still want to publish it so that I can process it elsewhere. How can I do that?
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I'd like to prevent the local planner from using laser data, but I still want to publish it so that I can process it elsewhere. How can I do that?
The easiest way to do that would be to set the occ_dist
parameter of the local planner to zero (I assume you're using base_local_planner
). This won't add any extra cost for potential trajectories to enter nonzero cost cells. I suppose you could even configure the local costmap to not have any layers, which would keep it empty.
I don't know your application, but you might find the robot will clip objects by doing something like this. The only way I see this working is if you update the global plan from navfn
at a pretty high frequency.
I hope this helps!
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Asked: 2016-05-12 10:35:24 -0600
Seen: 93 times
Last updated: May 12 '16
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