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Is there a way to have a local costmap layer that changes its orientation along with the robot?

asked 2021-03-19 17:41:45 -0500

naegling77 gravatar image

updated 2021-03-22 19:57:48 -0500

I would like to implement a local costmap that could rotate along with the robot with respect to the map frame. Is this possible?

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answered 2021-03-20 03:12:21 -0500

Dragonslayer gravatar image

The navigation stack is able to do it. move_base has global costmap, local costmap and planners, ready to go in a convenient package. move_base

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The cost maps don't rotate with respect to the map frame as far as I've seen. Is there a setting I don't know about?

tryan gravatar image tryan  ( 2021-03-20 09:35:29 -0500 )edit

@Dragonslayer, can you specify where I can configure such that the orientation can be changed?

naegling77 gravatar image naegling77  ( 2021-03-22 20:04:53 -0500 )edit

Maybe I understood the question wrong. But what Iam talking about is the frame-ID of the costmaps. The local-costmap usually is base_frame and "turns" with it. The global-costmap, on the other hand is fixed to, world for example.

Dragonslayer gravatar image Dragonslayer  ( 2021-03-23 06:51:31 -0500 )edit

global_frame is usually set to map or odom (a fixed frame). You could try setting it to base_link, but you might run into issues with smeared obstacles if the transform shifts.

tryan gravatar image tryan  ( 2021-03-23 09:07:15 -0500 )edit

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Asked: 2021-03-19 17:41:45 -0500

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Last updated: Mar 22 '21