Accessing inflation layer from costmap_2d::Costmap2DROS

asked 2016-05-18 05:45:58 -0600

erwhelewoli gravatar image

updated 2016-05-18 05:46:53 -0600


When I access costmap_2d::Costmap2DROS.getCostmap().getCost(), which layer do I read from? When using the costmap arguement in the function makePlan() in the global planner of move_base, and reading with getCost(), the inflation values that are visible in Rviz are not represented in, costmap_2d::Costmap2DROS.getCostmap().getCost(). E.g. the cost around the obstacle is not gradually decreasing as you would expect. Any ideas how to solve it?

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