Update costmap_2d with user defined no go zones [closed]
I am looking for a way to allow a user to dynamically add no go areas i.e. areas in the world that the robot planner should avoid. My idea is to modify the costmap_2d that move_base is using however there does not appear to be anyway to directly modify the costmap.
I noticed a similar question titled "Custom CostMap Values" (System won't let me paste the link) was asked on these forums and their idea was to either create artificial sensor data or modify move_base. Creating artificial sensor data I don't think would work since the real sensor data would clear out information added by the artificial sensor data. The other option is to modify the costmap_2d code to accept a message from the user and modify the costmap.
Can anyone think of another way to add dynamically created no go zones to a planner?
Did you found any solution? I'm also very interested in this. Please let me know if you have any idea how to solve it ;)