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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
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ROS-Package that implements a costmap layer to add virtual obstacles and to define navigation zone

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# 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.

![Presentation](/demo/presentation.gif "Presentation")