hi, All,
on my map, there are crowed places.
how can I set prohibit area so that global path planner would never attempt to route through these areas?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-18
Post score: 0
Comment by dornhege on 2014-07-18:
Are you using Hydro?
You can, for example, modify the map manually using your favourite image editing software to englobe with a black polygon the areas that you want the planner to avoid.
Originally posted by Martin Peris with karma: 5625 on 2014-07-18
This answer was ACCEPTED on the original site
Post score: 1
Comment by Ken_in_JAPAN on 2014-07-18:
I agree on @Martin Peris. I also think that it is the easiest in methods we choose.
Comment by dreamcase on 2014-07-19:
hi, Martin,
thanks for the advice. I have a concern on this. will the additional lines affect the localization performance when the robot comes to that corner? I am using AMCL for localization.
regards Ray.
Comment by Martin Peris on 2014-07-19:
Hi @dreamcase, yes modifying the map in such way might have an impact on the accuracy of localisation depending on what kind of sensor you are using, how big the "exclusion zone" is, the speed of the robot etc... But it might be worth to give it a try