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I am writing a global planner plugin for the navigation stack using OMPL. I need to convert the Costmap2D in ROS to its corresponding State Space representation. Has anyone done this before?

Originally posted by RohitM on ROS Answers with karma: 115 on 2016-10-24

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Comment by Karuzel on 2017-03-29:
Hey, have you solved your problem in any way?

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Please refer to the following link to get an idea of how to access the states in OMPL and extract ROS-compatible information from it.

https://bitbucket.org/ompl/ompl/issues/282/how-to-access-the-values-of-states-in-the

Originally posted by RohitM with karma: 115 on 2017-03-29

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