How to make a "preferred" area

asked 2018-05-30 06:17:42 -0500

starter gravatar image

updated 2018-06-05 03:48:30 -0500

Hi , My goal is to make the robot prefer to plan a path through a zone on the map, therefore i changed the FREE_SPACE ( you can find it in cost_values.h) cost from 0 to 50 and i made a layer that draws a zone that has 0 as cost. The problem is when the robot gets close to the zone, its cost goes from 0 to 50 which means that the cost of the map and the zone become similar but I need the cost of the zone to stay 0.

Thank you in advance.

EDIT:

Hi, I found out that the problem is coming from the obstacle layer it is replacing any cost below the FREE_SPACE with the value of FREE_SPACE, I am not really sure if what I am doing is correct, did anybody do something similar before or has an idea how this could be done. Do not hesitate if you have questions, thank you.

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Comments

Maybe you can assign cost to rest of the map, leaving the zone as free_space, this should solve the problem you are having.

Choco93 gravatar imageChoco93 ( 2018-06-08 05:46:31 -0500 )edit

Yes it worked ! I just made a layer with cost 50 over all the points that has 0 as cost and on top of that layer I am drawing my "preferred layer", Thank you.

starter gravatar imagestarter ( 2018-06-26 09:17:44 -0500 )edit