How to update the occupancy grid of the rviz map with another map?
Hi!
I am using local_costmap (not the raw laser scan data) as an input to a model, from which I receive another map, let's call it mapX. Now, I want that the robot navigates using the information from the new mapX (I have it both as a local and global map), instead of per default from the local_costmap. The problem is, that I do not want to update the local_costmap itself, that the global planner is using, because then moving forward the robot will collect local_costmap data that the model can not deal with. So I want that the local_costmap stays untouched, but at the same time, the robot plans according to the new mapX. I am using move_base and a standard global planner.
So I guess there should be a config file somewhere in the navigation stack, where I can just change the name of the topic? Or maybe I can work with a multiple-layer local_costmap, where I have the initial map as a first layer and the new mapX as a second (not sure how it works and should be implemented either), but even for that I guess I have to change something in the move_base package to say which layer from the local_costmap should be used?
I am still new to ros (melodic), so I will appreciate any help, giving me some direction in which I should read more and research. Thank you in advance!