Global_costmap vs static_map

asked 2021-01-10 16:27:09 -0600

updated 2021-01-11 04:47:51 -0600

Let's say that we are trying to map a Gazebo environment using the slam_gmapping node inside the gmapping package. Also, assume that move_base node is running as well.

Also, let's say that, in our Rviz display, we are visualizing global costmap, local costmap and static map.

I want to know why is there a difference in how the global_costmap and map look? Shouldn't global_costmap appear exactly like map (and some inflation) ?

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depends on your configuration. As soon as you add any other layers to the global costmap, this might change. Please share your configuration.

mgruhler gravatar image mgruhler  ( 2021-01-11 06:17:45 -0600 )edit