ROS
  • Introduction
  • First Chapter
  • chapter2
  • chapter3
  • Docker + ROS
  • ND - 2. ROS essentials - core
  • ND - 2. ROS essentials - run
  • ND - 3. Kinematics - core
  • C++ beginner s2-basic
  • c++ beginner s3-function
  • c++ beginner s4-class
  • c++ beginner s5-pointer
  • PKG - navigation
  • PKG - tf
  • PKG - move_base
  • PKG - actionlib
  • PKG - amcl
  • PKG - costmap_2d
  • Debug
  • ND2 - Project 2 - localization - basic
  • ND2 - Project 2 - localization - files
  • ND2 - Project 2 - localization - writeup
  • ND2 - Project 2 - localization - ruby
  • ND2 - project - Deep RL manipulator
  • ND2 - project - path planning
  • Write up
  • hsr
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PKG - costmap_2d

PreviousPKG - amclNextDebug

Last updated 5 years ago

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A 2D costmap takes in sensor data, builds a 2D or 3D occupancy grid, and inflates costs in a 2D costmap based on the a user specified inflation radius.

red cells = obstacles

blue cells = obstacles inflated by the inscribed radius of the robot

red polygon = footprint of the robot