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OccupancyGrid and OccupancyGridUpdate: how to use them?

asked 2021-07-19 02:38:40 -0500

bach gravatar image

updated 2021-07-19 02:41:15 -0500


I have looked on the web to understand how to use them properly to my aim, without success. I guess OccupancyGridUpdate messages are used to update efficiently the costmap, with overwriting every time the whole map.

Now, I would like to have in the OccupancyGrid topic the updated costmap, is there a way to tell the move_base to do so in place of publishing the OccupancyGridUpdates? (I'm using TIAGo robot from PAL)

If not, how can I update the move_base local costmap in my C++ code using OccupancyGridUpdate and convert it to an OccupancyGrid message?

Thanks a lot.

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answered 2021-07-21 04:57:02 -0500

bach gravatar image

Basically there is a parameter in the configuration file of a costmap, as reported in the documentation:

~<name>/always_send_full_costmap (bool, default: false)

If true the full costmap is published to "~<name>/costmap" every update. If false only the part of the costmap that has changed is published on the "~<name>/costmap_updates" topic.

This will force to publish every time the full costmap.

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Asked: 2021-07-19 02:38:40 -0500

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Last updated: Jul 21 '21