real robot avoiding virtual objects
Hy comunity,
i am trying to figure out how i could merge an existing map(e.g. coming from digital planing data of construction sites) to a map generated by the nav2d_package. I want to do this in order to add virtual features in the map generated on the base of the observation resource. The Operator node should operate on the map that has been overlayed to the created one from the sensor readings. As for an example, the robot should avoid in a real world a virtual object.
A work arround would be to "fake" the sensor readings and or pipe with Gazebo and a paralell to real world running simulation, but i think that is a bit dirty.
I was searching within the operator node, where i could hang in, but did not find a real point.
I found following post: https://answers.ros.org/question/1888... and ofc checked out: http://wiki.ros.org/costmap_2d/Tutori...
I am a bit lost in deciding wether direction i should go.
Hope someone could help me,
Thans in advance!
Michael
This sounds a lot like a question I asked last year, but I framed the question differently than you did. Read through the answers I was given. It may help. https://answers.ros.org/question/2944...
How about adding a custom costmap2d layer? You can insert objects into it (mark cells as occupied) as you wish.
I figured out using the static layer was already enough for me, but the suggestion with additional layers could be another worth try.