Creating a costmap from an existing point cloud

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

tigershark gravatar image

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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