Hello Does anyone know why the costmap_2d parameter "unknown_cost_value" cannot be set to 0 or lower. My understanding is that a costmap with static_map set to true will take in an occupancy_grid from the map topic. It then uses this unknown_cost_value to set all the corresponding cells with this value as unknown space in the newly created costmap. Since occupancy grids from the map topic have values at -1 for unknown space 0 for free space and 100 for occupied space it seems I can't set the unknown space for the cost map to be the same as the unknown_space in the map. It works fine if I set the unknown_cost_value larger then 0 to 100 for example but this then sets the unknown space in the cost map to be equal to the occupied space in the map.
Post score: 1
Comment by weiin on 2012-09-19:
The inconsistency is also noted here http://answers.ros.org/question/38765/occupancygrid-vs-costmap/