use trajectory to argument the costmap
Hi, I am using ROS2 in my navigation project and here I have an idea on the costmap.
Currently there only exists free, obstacle and unknown space in static_layer. My idea is to add a trajectory on it. The grids belonging to the trajectory are set least cost. The advantages are as follows:
1, With the given trajectory, it can realize tracked navigation under soft constraint; 2, If the trajectory is created during mapping, then the global plan would be friendly to localization.
I wonder whether this idea has already released by anyone. If necessary, I would be very happy to contribute this idea.