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global planner using different global costmap

asked 2017-07-27 14:16:07 -0600

j_salfity

16 ●8 ●10 ●10

Hi All, Using ROS Indigo on Ubuntu 14.04 and running turtlebot_navigation stack.

I've created my own global costmap, call it /my_global_costmap that is created and published by a python file.

What is the simplest way for the global planner to subscribe to /my_global_costmap and disregard /move_base/global_costmap/costmap/ that turtlebot_navigation brings up?

Thanks

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