ROS solutions for large map

asked 2019-01-16 09:16:24 -0500

s_z gravatar image


I'm working on path finding in a large map. I'm using the costmap_2d package with a four-layer costmap(static_map, obstables, inflation and a self-defined layer).

I ran into a problem that the costmap is too large to be held in memory. (Since the costmap is initialised with "costmap_ = new unsigned char[size_x * size_y];", and each layer will have a copy of the costmap).

I want to know what are the options I have in ROS context, and any other useful suggestions.

Any help is appreciated!

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David Lu gravatar image David Lu  ( 2019-01-16 09:56:42 -0500 )edit