Is it possible to modify static_map or specifically, the global cost map dynamically?
Greetings,
I was hoping those more familiar with the map_server node could perhaps share some insight on how I am thinking about the global cost map. I am reading through http://wiki.ros.org/map_server and I don't see where it mentions if it is possible to run any extra processors on the map data itself and possible modify it in real time.
What I am trying to do:
I have a prior saved map of 1,000 cells by 1,000 cells.
I have a 200x200 cell data of ground truth from a 2nd map
I know how map2 relates to map1 through a transform
I want to overwrite the 200x200 cells in map1 with map2's data dynamically
From my understanding, I can read the map, modify the byte array as I see fit, even giving it new dimensions and publish map2 on a separate topic, but for navigation purposes, can I just directly modify the global cost map of map_server? Ie: a SetMap service?
