Collision Check with costmap_2d::Costmap_2D

asked 2020-02-27 17:06:44 -0600

sean112 gravatar image

updated 2020-02-27 17:07:27 -0600

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 base_local_planner::CostmapModel can be utilized. When I tried to implement, I used getmap service from map_server. However, the msg is a nav_msgs::OccupancyGrid type. I need a Costmap_2D project to construct base_local_planner::CostmapModel. Is there any method to convert OccupancyGrid to Costmap_2D?

I read this page:

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

What is the best way to approach this?



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