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Customize global costmap cost Hello, I wan to customize my global costmap cost to control the path range of global plann

Customize global costmap cost Hello, I wan to customize my global costmap cost to control the path range of global plann

Customize global costmap cost Hello, I wan to customize my global costmap cost to control the path range of global plann

Dear David, forgive me for replying so late cause I think I need to to study as detail as possible. After referring to y

Hello, I wan to customize my global costmap cost to control the path range of global planner,

I try to draw some pictures to descripte my question clearly as follows:

< pic 1. > The original global costmap with StaticLayer, ObstacleLayer(by laser scaner) and InflationLayer:

< pic 2. > The normal global path by global planner (global_planner/GlobalPlanner , dijkstra algo.):

< pic 3. > Customize the cost of global costmap, both of yellow and white field are FREE SPACE, but the cost of yellow is higher than white (the white field has the lowest valid cost):

< pic 4. > after adjust the cost of global costmap, one example path which generated by the global planner:

I already read the similar question before: Custom CostMap Values

But I don't need to change the cost dynamic, just one time when load the static global map.

• in short

I need to let the global planner know:

##The white field is the best choice, but the yellow is still good.##

when planning a global path.

P.S. I also tried to edit the .pgm map file by GIMP, keep the white field color to 0xFEFEFE, and set yellow field color to 0xEEEEEE, but the behaviour of global planner was not changed.

From I know, the initialize of global map static layer convert the map value to only three types:

• FREE_SPACE
• LETHAL_OBSTACLE
• NO_INFORMATION

If you can not understand my question because my poor English, I will explain it as clearly as I can.

Thanks for your help.

Customize global costmap cost Hello, I wan to customize my global costmap cost to control the path range of global plann