Dynamic reconfigure of costmaps
Hello everyone!
I have a mobile robot in Gazebo with defined dimensions, whose task is to pick-up tables and to transport them to other locations. I am using move_base for path planning and navigation. The robot is navigating properly when there is no load on him, but fails to avoid obstacles when there is a table on it. Obviously, it is because dimensions of tables are not taken into account of costmaps during navigation. The question is following: is there any possibility to dynamically reconfigure or recompute my costmaps during robot motion on move_base?
My first thought was to two parallel running move_base nodes each taking control after some command, but I am not sure if this is even possible, going to try it soon, but any other/better solutions are very appreciated!
