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strands-project / strands_movebase

A repository for all the STRANDS-augmented movebase, including 3D obstacle avoidance, etc.
MIT License
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[movebase_state_service] Service that returns current costmaps with plans overlaid #33

Closed nilsbore closed 9 years ago

nilsbore commented 9 years ago

This service return the local and global costmaps as image with the global and local plans overlaid. It also returns the last image from the camera. The idea is to use this in strands_navigation to get some more info on what happened when the robot failed.

Call the service with rosservice call /movebase_state_service "save_to_disk: true" if you want to save the image to ~/.ros/movebase_state_service or with false if you just want to get the images back as messages.

@bfalacerda Please merge this when you've integrated the service call.

bfalacerda commented 9 years ago

The idea is to extend https://github.com/strands-project/strands_navigation/blob/hydro-devel/strands_navigation_msgs/msg/MonitoredNavEvent.msg so we can save these snapshots whenever continuous navigation fails.

marc-hanheide commented 9 years ago

So, @bfalacerda I understand you'll contribute more to this before we merge it?

bfalacerda commented 9 years ago

not to this PR directly, but i'll do some additions to the logging in strands_navigation and test the full thing before we merge.