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ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
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local costmap with two inflation layers or inflation_radius #1241

Open minghaohsu410168 opened 1 year ago

minghaohsu410168 commented 1 year ago

Hi everyone,

I have tried using the move_base packages for robot navigation, and I want to set two obstacles to local costmap but different inflation radius. e.g. I have two sensors, one is LiDAR and the other is sonar. How to set the LiDAR layer costmap with inflation_radius=0.5 and sonar layer with inflation_radius=0.25?

mikeferguson commented 1 year ago

I don't think this is actually a supported configuration - the inflation radius is designed to be a robot-specific parameter - not really a sensor specific one. Further, by the time the inflation layer runs, it really doesn't have any information about which sensor was involved in marking a cell in the costmap.