How to tune the costmap_converter to give me a BoundingSphere

asked 2018-08-22 18:11:19 -0600

Fabricio Almeida gravatar image

Hi,

I am looking for a way to use the costmap_converter node to give a boundingSphere obstacles based on the costmap. Before to create a custom plugin for that I would like to know if it's possible to do it by tunning the parameters of the current ones to achieve it.

1: I have a node responsible for publishing a costmap based on the robot footprint (using costmap_2d library). 2: I setup the costmap_converter to subscribe to costmap topic and publish a obstacle list. 3: I have a local_path_planner node that will subscribe to this obstacle list.

On the costmap I have a circle area and based on that circle the costmap_converter is publish several polygon obstacles instead a single obstacle.

Unfortunately I can not upload the rviz image with the results obtained using the current available plugins. But it extract from a circle area of the costmap several small obstacles. There is a way to tune the costmap_converter plugins to give me a boundSphere instead? (A central pose of the area + radius).

Thanks!

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