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So one easy and quick way you could do to mark of "danger zones" is to edit the created map in gimp and just "close" the opening by painting black pixels to create a barrier. You should not make a complete line, just 1 pixel every 20cm (depending on your map resolution), since a whole line could mess up your AMCL localization, since it would expect a whal where there is none. That is of course a hack, and there is still a small chance that the robot drives through it, namely when it gets close and since the painted obstacles do not show up in the local costmap, the local planner might decide to drive through it. But the global planner usually takes care that you do not drive too close to the zones when creating the path. This of course only works if you create the map with gmapping and use it in AMCL at a later stage, not directly with gmapping.