search

skasperski / navigation_2d

ROS nodes to navigate a mobile robot in a planar environment
GNU General Public License v3.0
123 stars 65 forks source link

Layered-costmap with second laserScan #37

Closed Han-IChun closed 6 years ago

Han-IChun commented 6 years ago

Hi skasperski, I'm trying to create a layered-cosmap by costmap2d plugin module with seceond laserScan. Should the Operaor node subscribe to the second laserSacn? or just add another observation source on costmap.yaml and specify a frame and a topic?

Many thanks, I-chun

skasperski commented 6 years ago

Hi I-Chun, I think this should be done as you suggested via the costmap.yaml. The Costmap handles all the incoming sensor readings by itself, so there is no need to do this in the Operator. (The Operator also does not subscribe to the laser-scan itself, because it is managed by the costmap.)

Best regards, Sebastian