June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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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