Hello all,

Currently I am working on a project where I would check a pose for collision based on my global map. I found that baselocalplanner::CostmapModel can be utilized. When I tried to implement, I used getmap service from mapserver. However, the msg is a navmsgs::OccupancyGrid type. I need a Costmap2D project to construct baselocalplanner::CostmapModel. Is there any method to convert OccupancyGrid to Costmap2D?

I read this page: http://wiki.ros.org/costmap_2d/Tutorials/Creating%20a%20New%20Layer

It seems like it still needs a Costmap_2D object to updateCost().

What is the best way to approach this?

Sincerely,

Sean