Nav2 simple commander's getGlobalCostmap()

Hi, I would like to obtain the costmap's cost with respect to the map frame in nav2simplecommander. The getGlobalCostmap() returns the Costmap. Are there any methods to get the cost of a waypoint/goalpose similar to worldToMap() in the C++ method

Asked by MrOCW on 2022-08-15 00:18:05 UTC

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It should be trivial to do that conversion in the same way as in C++, though there’s no Costmap API in python currently part of the simple commander package. Its been discussed adding it to be relatively analog to the basics in C++ but hasn’t been contributed yet (though I believe an implementation or two are floating around)

Asked by stevemacenski on 2022-08-16 03:49:48 UTC