Closed tonynajjar closed 2 months ago
I'm not entirely sure this is a good thing to expose to users. I understand you want it to debug the current problem, but this will be crazy inefficient if misused in applications. I think perhaps this should just be a debugging tool for the current work unless you feel strongly about it otherwise
I don't feel strongly about it but can you elaborate on
but this will be crazy inefficient if misused in applications
I was hoping this could also be the base for an rviz plugin with which you just click a point on the costmap and it gives you the cost
I suppose if there's an rviz thing for it in nav2's config, that's fine with me
I suppose if there's an rviz thing for it in nav2's config, that's fine with me
That would be very nice to debug, and to be able to get the true value of the cost of a costmap cell, not the truncated occupancy grid msg value
It would have to be the truncated occupancy grid value, because that’s what rviz displays if we did it only within rviz
Is it possible to add a bool in the .srv to get costmap cost at pose or footprint cost at pose?
Is it possible to add a bool in the .srv to get costmap cost at pose or footprint cost at pose?
The request would also require the theta
then too
Any update here @tonynajjar?
Yeah I was wondering what to do with it. I don't need it anymore personally but if enough people want it I guess we can keep it in the backlog as a low-prio thing to implement?
I guess you could close this PR, open a ticket as low priority / good first issue with a description: service to get cell/footprint cost + rviz panel for selecting and using it. You could link this branch as a starting point
This would make a nice grad student / hobbyist project
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Draft PR created for https://github.com/open-navigation/navigation2/issues/4271
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