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rst-tu-dortmund / costmap_converter

A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types
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Obstacle circle #5

Closed artivis closed 6 years ago

artivis commented 6 years ago

How could a circle be describe with the ObstacleMsg.msg ?? As of now and since we are dealing with 2D I use a single geometry_msgs/Point32 in the polygon where its x & y component describe the circle center and its z component describe its radius.
This is a bit hacky but is there a better way ??

croesmann commented 6 years ago

We could add a separate field in ObstacleMsg.msg called radius. In case the polygon has just a single point, radius could be used to describe a circle. This is also a bit hacky, but I don't see any other way right now and this also the way how it is done with the footprint definition in package costmap_2d.

croesmann commented 6 years ago

done with commit 1e056c5a912f2fbc0a4f8cc8698af8127fb44430

artivis commented 6 years ago

Great, thanks !