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Nav2 simple commander's getGlobalCostmap()

asked 2022-08-15 00:18:05 -0500

MrOCW gravatar image

updated 2022-08-15 00:19:21 -0500

Hi, I would like to obtain the costmap's cost with respect to the map frame in nav2_simple_commander. The getGlobalCostmap() returns the Costmap. Are there any methods to get the cost of a waypoint/goalpose similar to worldToMap() in the C++ method

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answered 2022-08-16 03:49:48 -0500

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)

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Asked: 2022-08-15 00:18:05 -0500

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Last updated: Aug 16 '22