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Display only one layer of a costmap in rviz

asked 2018-09-07 09:02:26 -0500

Hug gravatar image

updated 2018-09-07 10:22:35 -0500

Hi everyone,

I have a costmap with two layers (static_layer and inflation_layer) and I would like to be able to display them separately or in different colors because it is difficult to distinguish the two (there is only a very small difference in brightness between them) :

image description

Thanks in advance for your advices!


As advised by David Lu, I changed the Color Scheme of my costmap from map to costmap:

image description

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answered 2018-09-07 09:24:22 -0500

David Lu gravatar image

There is not currently functionality to visualize layer by layer, but you can change the color scheme of the OccupancyGrid display in rviz to Costmap, which will make the color differences more apparent.

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Thanks, it's exactly what I needed. If I understand correctly, the purple zone corresponds to the real geometry of the obstacle and the light blue corresponds to place where the robot center can never be, whatever its orientation, right?

Hug gravatar image Hug  ( 2018-09-07 10:22:05 -0500 )edit

That is correct.

David Lu gravatar image David Lu  ( 2018-09-11 08:13:56 -0500 )edit

Ok, thanks.

Hug gravatar image Hug  ( 2018-09-11 10:02:32 -0500 )edit

Hi, if the light blue represents the inflation layer, what's the meaning of the dark blue layer? Thank!

shawkontzu gravatar image shawkontzu  ( 2022-09-23 16:55:06 -0500 )edit

The light blue comes from the inflation layer, but more things come from the inflation layer. Light blue/red/dark blue are different values in the actual costmap (253 down to 1)

David Lu gravatar image David Lu  ( 2022-10-06 12:09:12 -0500 )edit

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Asked: 2018-09-07 09:02:26 -0500

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Last updated: Sep 07 '18