rst-tu-dortmund / costmap_prohibition_layer Goto Github PK

I tried to use this layer in my global costmap but I'm receiving an error:
Prohibition Layer: Cannot read prohibition_areas from parameter server
[ERROR] [1517397445.042675456, 35.486000000]: Reading prohibition areas from '/move_base/global_costmap/prohibition_layer/prohibition_areas' failed!

Hav you an idea! Thank you

move base cpu double while enabling the plugin. filling or not the polygons do not change any things. how can i limit cpu usage whyle area are not changing

Could you tell me how to get the cells that fill the polygon?
the rasterizePolygon function in your code.
thanks.

Hi,

I have an application where prohibition_areas are updated live from a GUI.
According to the documentation (and inspecting the source code) I noticed that this information is loaded only once from a file and can't be changed without stopping the Costmap_2d node (correct me if I am wrong).
I would like to extend this plugin to subscribe to a topic that publish a new set of points, lines and polygons and updates _prohibition_points and _prohibition_polygons accordingly.

Would you accept a PR with this "upgrade"?

Cheers