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LCAS / topological_navigation

The topological navigation framework
Apache License 2.0
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Restricting nodes for lower level actions #39

Open Jailander opened 3 years ago

Jailander commented 3 years ago

The new topological framework will allow the restriction of access to some nodes, however, we need to be able to pass this information to lower level action like move_base.

Jailander commented 3 years ago

It might be possible to create a move base costmap layer that takes into account topological restictions for the move_base specific case

Jailander commented 3 years ago

@francescodelduchetto found this repo that might do the work for us https://github.com/h-wata/costmap_prohibition_layer we just need to look into the configuration

francescodelduchetto commented 3 years ago

I did a quick test and you can simply publish the areas you want to limit to this topic /move_base/global_costmap/costmap_prohibition_layer/prohibition_areas_update once this plugin is added to the move base costmap configuration.

I will send a PR with a possible implementation of this to block no-go nodes.

francescodelduchetto commented 3 years ago

@Jailander Do we want this restriction at lower levels being done only for no-go areas or also for the other restrictions defined in the map? Given that dealing with map restrictions has not been implemented yet, from what I can see, I was wondering how will that be managed.