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I'm not quite sure, but from the documentation (http://wiki.ros.org/costmap_2d#Subscribed_Topics) it seems that with a static map, the costmap is initialized only once at the beginning by making a service call to the the map server. It does not contiuesly update from a "map" topic. I'm not sure if an updateing gridmap can be achieved with the current implementation or if you have to write a custom layer for the global costmap.

EDIT: Apparently this has changed, see first comment.

I'm not quite sure, but from the documentation (http://wiki.ros.org/costmap_2d#Subscribed_Topics) it seems that with a static map, the costmap is initialized only once at the beginning by making a service call to the the map server. It does not contiuesly update from a "map" topic. I'm not sure if an updateing gridmap can be achieved with the current implementation or if you have to write a custom layer for the global costmap. costmap.