how to update the static global map only when needed?
Hi,
I try to navigate the robot in an environment with movable obstacles. Instead of making the robot avoid all the obstacles it found, I want the robot to test if an obstacle is movable first. If the robot finds an obstacle is movable, I don't want the robot to register that obstacle on the global map.
To be more specific, I have a pre-define static global map, which only records those unmovable obstacles. I want to use this global map to plan the path for the robot. When the robot find a new obstacle using its sensors, the robot can first tell if the obstacle is movable. If the obstacle is defined as movable, the global map shouldn't be changed and robot will just assume there is no such an obstacle. In other case, when an obstacle is defined as movable, the location and corresponding inflation area of the obstacle should be updated on the global map. Then the robot can use the new map to plan a path. Meanwhile, the local costmap should behave just as normal.
Hope I expressed myself clearly. Is this achievable with costmap_2d? What should I look into to achieve this? Thanks in advance!!!
