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how can i use only costmap_2d map? (navigation stack without base_controller)

asked 2016-06-14 05:26:21 -0500

bsk gravatar image

hi, currently i can create maps with gmapping + laser_scan_matcher and hector_slam.

i want to see obstacles in the map i create. so costmap is the answer i guess.

i just have lms100 laser scanner, not a robot system to control so in navigation stack, base_controler requirement is not met. so can i use a part of navigation stack which includes costmap_2d especially? if so, what is the proper way to do it?

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answered 2016-06-14 11:08:45 -0500

David Lu gravatar image

You can also run the costmap_2d_node (in the costmap_2d package)

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for doing that properly, should i create and modify a launch file like example.launch (in the costmap_2d launch directory)??? is it enough for me to see obstacles in the map?

bsk gravatar image bsk  ( 2016-06-14 12:53:47 -0500 )edit

answered 2016-06-14 09:25:59 -0500

asimay_y gravatar image

yes you can. you can just inherit the costmap2D class, and implement your idea.

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so how can i do that? please explain

bsk gravatar image bsk  ( 2016-06-14 09:50:00 -0500 )edit

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Asked: 2016-06-14 05:26:21 -0500

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Last updated: Jun 14 '16