Hi, I've been reading up on the costmap_2D package and I just can't seem to wrap my head about it. Here are a couple questions that hopefully someone on here can help me understand.
What is the difference between the
/mapby the Gmapping package and the
/gridby the costmap_2D package? My understanding is that costmap_2D provides a way to update a map at real-time, but when I run the
gmapping_demo.launchfile in turtlebot_navigation, the map is also updated at real-time. So why is costmap_2D needed if the Gmapping package can build and update a map at real-time?
Where is the costmap_2D package actually run? The wiki makes me think that it is run in one of the navigation launch files, and that it is needed by the move_base node. However, when I run the
amcl_demo.launchfile, I do not see costmap_2D in the results of
rosnode list. When I run
rqt_graphwith the amcl demo running, the only topics I see relevant to costmaps are published by
/move_base/local_costmap/costmap_updates), but they have no subscribers.
If anyone can help me understand, I would be very grateful.
Post score: 0