Sometimes when debugging planners or controllers it's useful to know the cost at a particular point/region in the costmap.
We could have an Rviz tool that allows to click on a particular cell in the costmap and get its cost. We also would need to expose a service in costmap_2d_ros that retrieves this cost.
Implementation considerations
A first attempt was done in this PR but not completed
Feature request
Feature description
Sometimes when debugging planners or controllers it's useful to know the cost at a particular point/region in the costmap. We could have an Rviz tool that allows to click on a particular cell in the costmap and get its cost. We also would need to expose a service in
costmap_2d_rosthat retrieves this cost.Implementation considerations
A first attempt was done in this PR but not completed