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How to use the occupancy grid in the global planner?

asked 2016-09-30 10:31:03 -0500

Earthgrazer
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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 -0500

spmaniato

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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 -0500

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Last updated: Oct 01 '16

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How to use the occupancy grid in the global planner?