Get obstacle boundary.
Hello everyone, I am currently developing my own algorithm for path planning. But I need the obstacle information as polygons instead of costmap that the navigation stack provides. I have tried the costmap_converter plugin but it is not quite there. I have been searching the web for days but came up empty. Does anyone know how that can be implemented? Maybe a relative paper or something.
Thank you in advance!
What do you mean by 'But I need the obstacle information as polygons instead of costmap that the navigation stack provides'?