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Create directional zone

asked 2020-04-18 11:48:04 -0600

FroPyx gravatar image


Is there a way to create directional zone on a map to prevent the global planner to plan through the zone in the opposite direction ?

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answered 2020-04-18 17:37:52 -0600

Short answer: No. The costmap doesn’t embed directional information.

You may be able to create a costmap layer that would do that, but that’s a non-trivial undertaking. You may also rather create a new planner that will have some directional metadata it has access to.

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New planner is the way to go. You can also just write a plugin for the dlux_global_planner to only calculate the potential in certain directions.

David Lu gravatar image David Lu  ( 2020-04-20 09:30:58 -0600 )edit

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Asked: 2020-04-18 11:48:04 -0600

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Last updated: Apr 18 '20