On Tue, Sep 21, 2010 at 4:06 PM, Eric Perko wrote: > On Tue, Sep 21, 2010 at 3:01 PM, Jack O'Quin wrote: >> >> Has there been any consideration of accepting nav_msgs/OccupancyGrid >> or nav_msgs/GridCells as input? > > We're actually working on a node to turn OccupancyGrid messages into > PointClouds, which are then fed into the costmap. Once we get it finished, > tested and some usage documentation done, we'll be sharing it. Thanks. I don't have any immediate need for it. Mainly, I am trying to understand the larger picture of how the occupancy grid fits into the whole system. A large O-grid is hard to share over TCP connections (except infrequently). PointClouds tend to get big, too. Nodelets seem to offer higher bandwidth in certain useful cases, but not all. I am still somewhat confused about how these various messages are intended to be used in combination. When would we publish an OccupancyGrid versus GridCells or PointCloud? --  joq