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Robot Operating System Cookbook by Kumar Bipin

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Global costmap

Likewise, this shows the global costmap that the navigation stack uses for navigation, where the pink line shows the detected obstacle and the blue zone represents the inflated obstacle, as shown in the following screenshot. To find the collision-free path, the center point of the robot should never overlap with a cell that contains an inflated obstacle:

  • Topic: move_base/global_costmap/costmap
  • Type: nav_msgs/OccupancyGrid
Global costmap

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