I'd like to add values to the costmap used by move_base (and the PR2). However I don't want to add obstacles from sensor data. Instead, I'd like to just be able to arbitrarily raise the cost of going through particular locations. For instance, our lab has a kitchen, and we'd rather the robots don't go into that area unless they absolutely have to. Seems like you could do that by making the value of the costmap in that area less than 127 (as per the costmap documentation).
It seems like there might be three approaches to this problem.
- Formulate the restrictions as artificial sensor data. Seems tricky and hacky.
- Dynamically edit the global map.
- Enhance move_base to subscribe to some additional information source.
It seems like 3 is the most straightforward solution, but I'm wondering if there's a better way.
tl;dr; How do I add "I'd really rather you didn't go there" areas to the costmap?
Post score: 4