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I'm using the Nav2 with Galactic version. Now, I want add new foorprint beside current footprint I had so this footprint can change based on topic data. I have read Nav2 source code, I know that Nav2 get information from yaml file, but it cannot use in my case. Anyone can help me, pls? thank you?
Thank you for quickly reply! I have try as you say but I have a trouble. When I create any publish and subscribe in Nav2_costmap_2d, I use colcon build with no error, but the footprint cannot display. The costmap node cannot link with other node as usual. I just add below subsscription of "footprint" topic in costmap_2d_ros.cpp.
The terminal return:
but I just add subscribe. Can you help me?
You can create a publisher to that subscription with your new footprint information. It should be very straight forward.
Thank you for quickly reply! I have try as you say but I have a trouble. When I create any publish and subscribe in Nav2_costmap_2d, I use colcon build with no error, but the footprint cannot display. The costmap node cannot link with other node as usual. I just add below subsscription of "footprint" topic in costmap_2d_ros.cpp.
The terminal return:
[ERROR] [controller_server-5]: process has died [pid 9400, exit code -11, cmd '/home/rtc/robot_ws/install/nav2_controller/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpzpabk5zk -r /tf:=tf -r /tf_static:=tf_static'].
but I just add subscribe. Can you help me? but I just add subscribe. Can you help me?
Asked: 2023-01-12 05:27:09 -0500
Seen: 54 times
Last updated: Jan 12 '23
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