How to manually modify costmap from navigation stack? [closed]

asked 2013-04-03 01:19:03 -0500

Geropan gravatar image

Hello everyone,

I would like to come up with a solution that will make my robot not to "cross" the way of moving objetcs (to be more precise, people). I thought that one way to do this might be to "inflate" the size of the costmap's obstacle in the direction of the movement.

Thanks to openni_tracker I can have people's position and estimate their speed. The problem is that I don't know a way (if any) to access the costmap used in navigation stack. Any ideas?

Thank you in advance.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-11-26 03:14:11.195579


@Geropan im looking to do the same thing, could you manage to acommplish it? i would really appreciate any help, thanks

ctguell gravatar image ctguell  ( 2013-11-03 15:19:45 -0500 )edit