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Great. I am already referring the paper you mentioned. However, regarding implementation I had some queries as am new to programming and ROS. The queries are as follows:
Is it possible to use information of one layer into another? Say for example, I have layer 1 and layer 2 storing different informations. Now, I want to use the information in layer 1 (along with some more semantic information) to build layer 2. And in the layered_costmap, the information in layer 2 will be updated (and not layer 1's information).
As far as I could understand till now after looking into the code, the final layered_costmap instance which is fed to the planner stores cost information in the range of 0-255. Is that the case?
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