ros_navigation 加入禁区辅助导航

1

一种方法尝试david lu, costmap_forbidden_layer

2

加入一张禁区的static map, 一些机器人公司也用了这个思路设计, 比如fetch

## costmap
map_layer:
  map_topic: /map
nogo_layer:
  map_topic: /map_nogo

## config
global_costmap:
  update_frequency: 5.0
  static_map: true
  rolling_window: false
  plugins:  
    - {
   
   name: map_layer, type: "costmap_2d::StaticLayer"}
    - {
   
   name: nogo_layer, type: "costmap_2d::StaticLayer"}
    - {
   
   name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
    - {
   
   name: inflation_layer, type: "costmap_2d::InflationLayer"}


local_costmap:
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.02
  plugins:  
    - {
   
   name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
    - {
   
   name: inflation_layer, type: "costmap_2d::InflationLayer"}

3

costmap中的光线投射方法两个点之间划线 raytrace cast, Bresenham

来源：oschina

链接：https://my.oschina.net/u/4416282/blog/4565190