Hello,<br><br>I&#39;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&#39;s &quot;costmap&quot;).  I imagine there is a slick solution using remap, but it alludes me:<br>
<br>&lt;launch&gt;<br>  &lt;!-- Launch the assisted Teleop with own yaml --&gt;<br>  &lt;node pkg=&quot;assisted_teleop&quot; name=&quot;assisted_teleop&quot;<br>        type=&quot;assisted_teleop&quot; respawn=&quot;false&quot; output=&quot;screen&quot;&gt;<br>
    &lt;remap from=&quot;cmd_vel&quot; to=&quot;cmd_vel_tmp&quot; /&gt;<br>    &lt;remap from=&quot;costmap&quot; to=&quot;/move_base_node/local_costmap&quot; /&gt;<br>    &lt;remap from=&quot;planner&quot; to=&quot;/move_base_node/TrajectoryPlannerROS&quot; /&gt;<br>
  &lt;/node&gt;<br>&lt;/launch&gt;<br><br>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?  <br>
<br>~Travis Deyle<br>
PhD student @ Georgia Tech&#39;s Healthcare Robotics Lab<br>
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