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seed-solutions / aero-ros-pkg

AERO (SEEDNOID) ROS Package
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allow different maps for cost and path #362

Closed sasabot closed 6 years ago

sasabot commented 6 years ago

assuming that representing cost and obstacles with one map.is not possible in case this can be done with one map, the pull request should be declined

YoheiKakiuchi commented 6 years ago

Please explain the situation this PR is required.

sasabot commented 6 years ago

One example would be a table with four legs. The laser cannot see the table and therefore, is not in the cost map (used for matching laser points), but should be in the obstacle map to avoid the robot from colliding with the table.

Another example is when we want to prevent the robot from going into different places in the room (e.g. a place covered with carpet). We want the actual space to be open so that people can pass by but we do not want the robot to enter that space. (space is open in the cost map but blocked in the obstacle map)

YoheiKakiuchi commented 5 years ago

please add the explanation for this PR. map: is used for move_base, it's for path planning costmap: is used for amcl, it's for localization

currently, costmap should be the same to the map which was created by gmapping ? map should be the map which obstacles were added by hand ?

sasabot commented 5 years ago

@YoheiKakiuchi you are correct.