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Creating a costmap from an existing point cloud

asked 2019-07-24 14:08:46 -0500

tigershark
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I have an existing point cloud in pcd format and would like to create a costmap from it to find the least cost path. The tutorials I went through for costmaps rely on sensor data and I am unable to find example launch or config files that would help with my situation.

I know I can publish the point cloud with rosrun pcl_ros pcd_to_pointcloud <file.pcd> but I am unsure how to use this to create a costmap.

I am using ROS melodic on Ubuntu 18.04.

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answered 2020-07-11 13:40:07 -0500

Lucas Marins

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Hi.

If you are publishing a point cloud topic, you can use the costmap_2d package.

There you can understand more how to use and config costmap layers to create an obstacle map using some message types as Laserscan and PointCLoud2.

On the costmap_2d tutorial and ROS navigation repository, there are examples for launch files and config. They are not the best example, but it is a start.

costmap_2d tutorial/Config Obstacle Layer

ROS costmap_2d node launch

ROS costmap_2d node config yaml