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Cost Map 2D Setup

asked 2012-08-31 05:48:48 -0500

MarkyMark2012 gravatar image

updated 2014-01-28 17:13:31 -0500

ngrennan gravatar image

Hi all,

I'm still trying to figure out a way to generate a reasonable map using sonar data alone. I've given up on gmapping for now.

Thought I'd look at the navigation stack's cost map 2d - questions I have are:

1) Do I/can I just write a node only creating a cost map 2d like in section 3 in

2)Or would I be better off just setting up the navigation stack as per



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Which one you find it efficient to use? Can the robot be able find out it's coordinate position from the global cost map?

RB gravatar image RB  ( 2013-10-20 08:31:15 -0500 )edit

Hi Brian - thus far I've had no luck with either giving me any kind of representation of the environment. Which is kind of a shame because software I've written myself can generate a reasonable map - true no where near as good as a laser etc but I am able to see boundary and object outlines

MarkyMark2012 gravatar image MarkyMark2012  ( 2013-10-21 09:28:23 -0500 )edit go through this link it might help you.

RB gravatar image RB  ( 2013-10-24 21:48:55 -0500 )edit

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answered 2013-10-23 04:54:40 -0500

David Lu gravatar image

You can run just the costmap in a node without the other parts of navigation by running rosrun costmap_2d costmap_2d_node after you have set the appropriate parameters on the parameter server.

However, this method relies on having the proper transforms in place, i.e. very accurate odometry.

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Asked: 2012-08-31 05:48:48 -0500

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Last updated: Oct 23 '13