Travis,

If you run the normal navigation stack at the same time as assisted teleop,
you're correct in that each will maintain its own occupancy grid. At some
point, I want to re-implement the navigation stack using nodelets which
would allow for things like the costmap to have a ROS interface that could
be used by multiple nodes/nodelets, but that's for the future.

As far as your remapping call goes, you're almost there, but you have to be
explicit about using the private namespace. This is a bit unintuitive
because using the "param" tag within a "node" tag automatically puts things
in the private namespace, but the "remap" tag does not. I guess this is so
that parameter remappings and topic remappings are consistent, but its
admittedly kind of a pain. So, if you change your remaps to look like the
ones I've pasted below, I think things should work:

<remap from="~/costmap" to="move_base_node/local_costmap" />
<remap from="~/planner" to="move_base_node/TrajectoryPlannerROS" />

Hope this helps,

Eitan

On Tue, Jul 20, 2010 at 3:29 PM, Travis Deyle <beambot@gmail.com> wrote:

> Hello,
>
> I'm trying to figure out a slick way to load the 2d_costmap from
> /move_base_node/local_costmap (loaded by 2dnav) into my own Costmap2DROS (in
> assisted_teleop's "costmap").  I imagine there is a slick solution using
> remap, but it alludes me:
>
> <launch>
>   <!-- Launch the assisted Teleop with own yaml -->
>   <node pkg="assisted_teleop" name="assisted_teleop"
>         type="assisted_teleop" respawn="false" output="screen">
>     <remap from="cmd_vel" to="cmd_vel_tmp" />
>     <remap from="costmap" to="/move_base_node/local_costmap" />
>     <remap from="planner" to="/move_base_node/TrajectoryPlannerROS" />
>   </node>
> </launch>
>
> One solution that already works is to generate my own costmap / planner
> using my own YAML files (vis-a-via the method used by assisted_teleop).
> However, this seems to be a duplication of effort (maintaining a costmap
> with different parameters when the 2dnav costmap is already running and
> tuned).  Suggestions?
>
> ~Travis Deyle
> PhD student @ Georgia Tech's Healthcare Robotics Lab
>
>
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