How to Inflate Occupied Position Of Octomap

asked 2020-02-17 21:34:41 -0600

zhefan gravatar image

updated 2020-02-17 21:35:47 -0600

I am using octomap as path planning mapping tool. Everything works fine except for robot size. I wonder is there any method that I can inflate the octomap occupied position by robot radius so that I can I solve this problem?

I tried to search something, it seems matlab has their own octomap inflation function: https://www.mathworks.com/help/nav/re... Is there something similar to this in ros/C++?

If not, what is the common way to check the robot state if we need to consider robot size (Let's assume it is a ball with radius r) using Octomap Mapping?

Thanks in advance!!!

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Comments

Hi, do you find a solution?

饭团ft gravatar image 饭团ft  ( 2020-04-09 09:40:32 -0600 )edit

Yes, not a really elegant one but write code myself to infalte the map.

zhefan gravatar image zhefan  ( 2020-04-09 10:11:40 -0600 )edit
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