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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The global costmap
This shows the global costmap that the navigation stack uses for navigation.The yellow line is the detected obstacle. For the robot to avoid collision, the robot's footprint should never intersect with a cell that contains an obstacle. The blue zone is the inflated obstacle. To avoid collisions, 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