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Best practices: checking a path with Costmap2DROS

asked 2012-02-20 11:12:54 -0500

bkx gravatar image

updated 2014-01-28 17:11:25 -0500

ngrennan gravatar image

Hi,

I have a populated Costmap2DROS object and a vector of poses which make up the robot's path. I need to verify that on every pose, the robot is not in collision.

It should be sufficient to check whether the pose lies within the robot's inscribed radius, although if the computational load is light enough I could check the robot's footprint.

What are the best practices for doing this with a Costmap2DROS? I have found that I can make a copy of the underlying costmap, but this seems inefficient.

Thanks!

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answered 2012-02-21 12:53:35 -0500

eitan gravatar image

You should be able to use the CostmapModel class in the base_local_planner package to allow you to check if a given pose is in collision. You can find documentation on the class here.

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Asked: 2012-02-20 11:12:54 -0500

Seen: 437 times

Last updated: Feb 21 '12