create custom costmap with labelled objects

asked 2016-08-24 19:14:45 -0500

brigit gravatar image

I want to be able to create a static costmap which contains a set of semantic labels for objects of different kinds (eg. chairs, tables, etc.). Currently, I have a pgm image which has a unique integer value for each object type in each pixel which maps to the static map I have for my robot's environment. In fact, to make this, I exported the robot's environment map using map_server map_saver and inserted the object labels.

These object labels will never change and I want to be to identify objects using this map, for example, to be able to say , "my robot is 1 m away from a door" and display this in rviz. Is it possible to do this just using map_server and have rviz subscribe to a Map topic interpreted as a costmap layer? So far when I publish my custom map described above, the output is wrong (doesn't even look like a regular static map).

For a seemingly simple task, it seems like writing a custom costmap_2d layer in C++ is overkill.

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