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I'm wondering if it is possible to publish only the cells (points) that are occupied in a given costmap_2d object using the newer layered costmap approach in Hydro? This was how the nav_msgs/GridCells worked on the /obstacles topic of old and it was a useful feature.

I suppose it would not be terribly difficult to write a node that subscribes to the /costmap topic now and converts the occupancy grid into a GridCells message of occupied cells, but I'm just curious if that functionality is built in to the current implementation of costmap_2d or not. Thanks!


Originally posted by Matt_Derry on ROS Answers with karma: 41 on 2014-01-17

Post score: 2

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It is not currently built in. You are correct that you could write another node, since the information for the gridcells is a subset of the information in the costmap.


Originally posted by David Lu with karma: 10932 on 2014-01-17

This answer was ACCEPTED on the original site

Post score: 1

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