Insert permanent obstacles in static map

asked 2017-04-22 16:38:24 -0600

lute344 gravatar image

Hi,

I have a static map of the robots environment but there are obstacles distributed in this environment. These obstacles have ar-tags and it is known, that these obstacles are not moving. Up to now I already wrote a node, which subscribes to /map and publishes /modified_map. In the published occupancy map, the permanent obstacles are inserted.

The problem now is, that the global costmap is not updated when a new modified_map is published. Is it possible, that the global costmap is updated with the new map?

Thank you in advance. Jakob

edit retag flag offensive close merge delete

Comments

Did you remap the /map topic in move_base to your new /modified_map? To make sure move_base subscribe to the your /modified_map, try to run the command rostopic info /modified_map and check if move_base is one the subscriber nodes

DavidN gravatar imageDavidN ( 2017-04-22 23:03:59 -0600 )edit

Thank you for your quick answer. Yes, I remapped the topic and move_base is a subscriber. It seems strange to me, that the topic global_costmap/costmap is not published permanently. Only global_costmap/costmap_updates is published constantly. Is this a normal behavior?

lute344 gravatar imagelute344 ( 2017-04-23 02:36:39 -0600 )edit

Or is it necessary to trigger a costmap update? If yes, how could I achieve this?

lute344 gravatar imagelute344 ( 2017-04-23 02:39:24 -0600 )edit