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(unknown_cost_value) in costmap2D

asked 2022-10-29 13:05:07 -0500

Kostas Tzias gravatar image

So i am trying to set the parameters for costmap but i dont know why this paramter is set to -1 neither what options do i have if i need to change it

Also could someone explain to me what this parameter exactly does cause i am not sure ??

Thank you in advance ! <3

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answered 2022-10-31 10:19:37 -0500

Its the cost value if you don't know what's in a given occupancy cell. If you have a static map, that could be unexplored regions. If its in a local costmap without a static map, it would be area that haven't been covered by any sensor data yet so you don't know anything about it yet. So this is the cost of unknown space. The value of 255 (or -1) is special so that algorithms know that's unknown space and can act accordingly. But you can override this so that unknown space is always treated as free (if set to 0) or occupied (if set to 254) or anything in-between to your heart's desire.

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Asked: 2022-10-29 13:05:07 -0500

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Last updated: Oct 31 '22