How to set custom cost in nav2 map?

asked 2021-03-31 07:40:06 -0500

AlexKaravaev gravatar image

Hi!

I have kinda simillar situation with https://answers.ros.org/question/2857....

I tried to draw on pgm file and have set trinary_costmap: false in my params file.

I am using reeds-shepp planner and seems like it takes into account only lethal obstacles, is it true or I should do something different?

Example of this kind of map: https://imgur.com/a/67pZe4s

I want the agent to stay in the lanes, color of them is grey: #706e6e

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