How to get costmap_2d to build on top of cartographer's /map?

asked 2018-08-08 20:56:41 -0600

asabet
45 ●19 ●20 ●24

I'd like to build a costmap on top of cartographer's map instead of say, gmaping, so I can run move_base on it for navigation. How do I go about doing this/

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answered 2018-08-09 12:55:15 -0600

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

You can just do this natively. As long as it provides the map on the correct topics (if you're using defaults, it'll work out of the box). All navigation looks for is the /map topic out of the box so if cartographer provides this, then you're done!

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answered 2020-04-18 01:18:46 -0600

artemiialessandrini
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Actually not, gmapping occupancy grip map has only 3 states: occupied, free and busy. Cartographer's states are about 100 based on certainty, so it needs to be transformed.

ref 1, ref 2

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How to get costmap_2d to build on top of cartographer's /map?

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