Is there a costmap_2d update callback?

asked 2021-05-31 06:33:49 -0500

tirafesi gravatar image

I'm writing a global path planner as costmap_2d plugin and would like to create a callback function that gets called every update. Is there a way to do this through the C++ API? I looked through the docs but couldn't find anything related.

Basically, I'm looking for the C++ analog of subscribing to the costmap_updates topic.

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