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Multiple static layers

asked 2020-08-18 11:01:37 -0600

limewalrus gravatar image

I have a general costmap question that I hope is appropriate for this forum. I'm working in Ros Kinetic 16.04 with simulation in Gazebo and using move_base to navigate a Jackal with a front-mounted laser-scan. I'm looking for a way to combine two static maps (which contain independent sets of obstacles) into the master costmap. I've tried implementing two distinct static map layers as plugins in the costmap parameters, using separate map servers, but (perhaps not surprisingly) only the latter static map is transmitted into master costmap. I think custom costmap layers may be the resort in this case, but since I haven't seen documentation explicitly prohibiting multiple static layers I was wondering if the layered costmap permits combining separate static maps into the master costmap in some straightforward way that I'm simply missing. Thank you.

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answered 2020-08-18 14:35:20 -0600

fergs gravatar image

I believe you will need to set the use_maximum value for the second cost map (so it doesn't override the first one):

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Indeed, Michael (other Michael) asked the same question a few days ago and that resolved it.

stevemacenski gravatar image stevemacenski  ( 2020-08-18 15:54:09 -0600 )edit

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Asked: 2020-08-18 11:01:37 -0600

Seen: 319 times

Last updated: Aug 18 '20