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Are local copy of Costmaps used for recovery behaviours updated in real time?

asked 2020-02-05 08:53:23 -0500

Alrevan
126 ●7 ●15 ●18

Hello,

My ros distribution is ros kinetic.

I am currently implementing a recovery behavior in a similar fashion of the rotate recovery of the nav core. During the init of the recovery i am doing a local copy of the costmap:

world_model_ = new base_local_planner::CostmapModel(*local_costmap_->getCostmap());

After that during the execution of the recovery I am doing several calls to footprintCost:

double footprint_cost = world_model_->footprintCost(x_cost, y_cost, theta, local_costmap_->getRobotFootprint(), 0.0, 0.0);

Is the cost-map interrogated by the footprintCost function updated in real time or is fixed at init time ?

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answered 2020-02-05 15:19:59 -0500

stevemacenski

8272 ●34 ●503 ●129 https://www.linkedin.c...

updated 2020-02-06 02:16:31 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Short answer: yes.

Longer answer: https://github.com/ros-planning/navig...

You'll see that you're taking a reference to the costmap on initialization and then working with it. When you getCost(), you're getting the current cost of the costmap you referenced at initialization which is continuing to update in a background thread.