adding multiple obstacles with different costs to costmap

asked 2018-04-06 02:33:24 -0500

Choco93 gravatar image

Hello! I have made a custom layer for costmap, and I am sending polygons to be seen as obstacles. I have 2 different kind of obstacles (human, non-human), I want to know can I assign them different costs using the same updateCosts function? It seems that if I assign them different costs then, all the obstacles get cost from the one that is defined later.

I want to know can it be done using same updateCosts function, can I make 2 updateCosts function? Or do I need a separate layer for non-human obstacles?


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