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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