How to use teb_local_planner for dynamic path optimization with own CostMap

asked 2020-07-11 13:59:26 -0500

Flontis gravatar image

I am trying to implement dynamic obstacle detection to help a self-driving car to avoid moving obstacles. For this, there is alreayd a lidar system implemented and a bunch of navigation packages.

Also, a local_costmap with diverse topics is already implemented.

Now I wanted to implement the teb_local_planner to also update in the costmap the estimated future positions of obstacles, based on the changing of the local costmap. For this, I tried to use

But tbh, I couldn't figure out how to implement it into my existing project. Also, I don't want the package to predict the entire path, just to create a new topic with a second local_costmap, in which the estimated future positions of the obstacles are. For this, if I understood correctly, the package uses the local_costmap and tracks changes in it. But how do I provide myown local_costmap to this node? For me, the tutorial wasn't really helpful tbh... Can someone suggest something?

So far, my topics for the local_costmap look like this: /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates

So I guess I have to provide the first topic to some of the nodes implemented in the teb-package. But how? And to which one? Or am I bagging the wrong horse and there is a totally different way howthis needs to be done?

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