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How to check for free cells in a line in the costmap?

asked 2018-07-11 12:16:03 -0600

g.bardaro gravatar image

Hello, What I want to do is something similar to a raycast. From a specific position draw a line and get the list of all the free cells in that line. The line has a maximum length, but it has to stop if it reach an obstacle. Is there an existing API for that? Or I need to implement it myself?

Thanks!

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answered 2018-08-10 04:03:00 -0600

g.bardaro gravatar image

In the end I solved it by implementing a new layer on the costmap and using this:

http://docs.ros.org/kinetic/api/costm...

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Asked: 2018-07-11 12:16:03 -0600

Seen: 78 times

Last updated: Aug 10 '18