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How to use the occupancy grid in the global planner?

asked 2016-09-30 10:31:03 -0600

Earthgrazer gravatar image

Hey everybody,

I am trying to create a path planner, that plans reliable paths in SLAM maps. Therefore I don't want to use the costmap, which doesn't work with probabilities anymore but the occupancy grid. But I don't know how to access it in my global planner... Can anybody help me?

Cheers, Earthgrazer

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answered 2016-10-01 12:15:10 -0600

spmaniato gravatar image

The simplest way would be to subscribe to the map topic (assuming that's where the SLAM node is publishing to) This would give you access to the nav_msgs/OccupancyGrid messages corresponding to the latest map. You'll probably also need to subscribe to the map_metadata topic as well, which will contain the nav_msgs/MapMetaData messages.

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Asked: 2016-09-30 10:31:03 -0600

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Last updated: Oct 01 '16