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Convert Costmap2D to OMPL State Space

asked 2016-10-24 03:55:32 -0600

RohitM gravatar image

I am writing a global planner plugin for the navigation stack using OMPL. I need to convert the Costmap2D in ROS to its corresponding State Space representation. Has anyone done this before?

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Hey, have you solved your problem in any way?

Karuzel gravatar image Karuzel  ( 2017-03-29 06:06:30 -0600 )edit

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answered 2017-03-29 14:37:39 -0600

RohitM gravatar image

Please refer to the following link to get an idea of how to access the states in OMPL and extract ROS-compatible information from it.

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Asked: 2016-10-24 03:55:32 -0600

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Last updated: Mar 29 '17