March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Displaying the global and local cost map
The following RViz screenshot shows the local cost map, the global cost map, the real obstacles, and the inflated obstacles. The display type of each of these maps is map itself.
- Local cost map topic: /move_base/local_costmap/costmap
- Local cost map topic type: nav_msgs/OccupancyGrid
- Global cost map topic: /move_base/global_costmap/costmap
- Global cost map topic type: nav_msgs/OccupancyGrid
Figure 18 : Visualizing global and local map, and real and inflated obstacle in RViz
To avoid collision with the real obstacles, it is inflated to some distance from real obstacles called inflated obstacle as per ...