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https://github.com/GMahmoud/virtual_costmap_layer
ROS-Package that implements a costmap layer to add virtual obstacles and to define navigation zone
https://github.com/GMahmoud/virtual_costmap_layer
Last synced: 2 months ago
JSON representation
ROS-Package that implements a costmap layer to add virtual obstacles and to define navigation zone
- Host: GitHub
- URL: https://github.com/GMahmoud/virtual_costmap_layer
- Owner: GMahmoud
- Created: 2018-07-25T11:52:40.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2022-10-05T17:07:18.000Z (over 1 year ago)
- Last Synced: 2024-01-20T04:58:44.462Z (5 months ago)
- Language: C++
- Size: 960 KB
- Stars: 73
- Watchers: 6
- Forks: 30
- Open Issues: 2
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Metadata Files:
- Readme: README.md
Lists
- awesome-mobile-robotics - Virtual Costmap Layer - Package that implements a costmap layer to add virtual obstacles and to define navigation zone (Softwares and Libraries)
README
# virtual_costmap_layer
This package includes a plugin to add a virtual layer of obstacles and to define a navigation zone in the 2D costmap.
The user can define several geometric forms (point, line, circle, polygon) in the map frame.
1. **Point**: geometry_msgs::Point [x, y, z=0]
2. **Line**: 2 * geometry_msgs::Point[x, y, z=0]
3. **Circle**: geometry_msgs::Point[x, y, z>0]
4. **Polygon with n edges**: n * geometry_msgs::Point[x, y, z=0]
The plugin subscribes to different topics for zone and for obstacles to receive data. It is also possible to define all those forms in the config YAML file.
