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skasperski / navigation_2d

ROS nodes to navigate a mobile robot in a planar environment
GNU General Public License v3.0
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LIDAR to Costmap #47

Closed CapitalZe closed 6 years ago

CapitalZe commented 6 years ago

Which nodes must I modify to have my actual LIDAR provide data for the costmap and to generate the map?

I've been looking a while and trying multiple things, but can not seem to pinpoint where it is. I've been tending towards the MultiMapper.cpp node but had no success yet.

In RViz I can see my LIDAR superimposed above the generated map and costmap, but it is just visible data at this point. It doesn't have any influence.

Many thanks!

skasperski commented 6 years ago

Both the mapper and the costmap subscribe to the /scan topic. You can remap topic names in the launch file with the <remap> tag, there is no need to change any source code.

See here for an example: https://github.com/skasperski/navigation_2d/blob/master/nav2d_tutorials/launch/tutorial1.launch#L14

Please note that this kind of questions is better suited for ROS-Answers.