[ros-users] costmap grids

[nitinDhiman]

Hello friends,
As per my understanding (attained by looking at code and help pages),
current cost-map generation is predominantly one sensor based. We look at
only laser-scans and point clouds. Output is 2d grid.
I am looking to combine  a occupancy grid from vision sensors and then
combine it with what CostMap2DROS produces.

I have a few queries in general:

a. How to deal with different resolutions of grids when combining together?
One way i see is to publish a topic with values given by 
Costmap2DROS::getResolution() . Is it correct way?
b. Inflation of obstacle costs: Will such solution lend well to non-square
vehicles? It may be possible for a vehicle to pass through narrow opening in
general but not when cost is inflated.

One more navie question: Is it correct to say that  each instantiation of
NodeHandle creates a new node everytime? This has arised while reading
move_base implementation.

Thank you
regards
Nitin
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