Possible to use costmap_2d as a standalone node away from the Nav stack?

asked 2019-11-28 23:07:24 -0600

Hello, so I'm currently dealing with the idea of using a 360 2D LiDAR for basic obstacle detection. I was looking at using a local costmap for obtaining obstacles around the vehicle. I have searched a lot but haven't seen much info out there on whether or not its feasible using the costmap on a robot that has no nav stack connections.

Thanks.

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Yes, it is. Typing "costmap_2d node" into google produces quite some hits, among the first four are #q237048 which shows you code how to launch it, as well as the costmap_2d wiki page which says

If you rosrun or roslaunch the costmap_2d node directly it will run in the costmap namespace

mgruhler gravatar imagemgruhler ( 2019-11-29 04:44:42 -0600 )edit

You can also use other custom obstacle detection packages such as this one

pavel92 gravatar imagepavel92 ( 2019-11-29 07:17:11 -0600 )edit