| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I'm learning how to get the cost of costmap in Nav2, so I read the costmap_tester.cpp to learn how to get the costmap_2d data structure. But I'm confused at this: tfl and the line 167. Is the using of tf necessary? If so, what's the effect of the tf here? Thank you very much for your effort.
The costmap object needs to transform all of the input data into a common frame before it can be combined. Usually the map frame is used as the common frame. That's why costmap needs a TF Buffer object.
Make sure you understand the distinction between "creating/updating a costmap", and "reading costmap data". Normally move_base does the first, and your ros node does the second (by subscribing to a topic.)
I have see verify the test, it shows that the tester.cpp if out of date in ROS2 foxy. And the constructor using tf is dropped.
And I found the way to get costmap by getting the map topic and constructing the costmap2d using the data from the topic. Thanks much!
Asked: 2022-03-26 08:56:46 -0500
Seen: 128 times
Last updated: Mar 27 '22
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
