On Tue, Sep 21, 2010 at 4:06 PM, Eric Perko <
wisesage5001@gmail.com> wrote:
> On Tue, Sep 21, 2010 at 3:01 PM, Jack O'Quin <jack.oquin@gmail.com> 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
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