What kind of data is stored in local and global costmap in ros navigation stack?
I'm looking the navigation stack of ros and I have a doubt regarding local and global costmaps. What kind of information is stored in each one? For example, if my global planner computes the shortest path among two points of a map, is in the global costmap the distance of each street that the global planner will use for the computation of the path or what information is stored in the costmap? I have read ros navigation stack documentation and I do not have clear what information can store. Also, the structure of the navigation stack is in the previous link.
Thank you so much for your help!!
artificial-intelligence openstreetmap ros robotics robot
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
add a comment |
I'm looking the navigation stack of ros and I have a doubt regarding local and global costmaps. What kind of information is stored in each one? For example, if my global planner computes the shortest path among two points of a map, is in the global costmap the distance of each street that the global planner will use for the computation of the path or what information is stored in the costmap? I have read ros navigation stack documentation and I do not have clear what information can store. Also, the structure of the navigation stack is in the previous link.
Thank you so much for your help!!
artificial-intelligence openstreetmap ros robotics robot
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
add a comment |
I'm looking the navigation stack of ros and I have a doubt regarding local and global costmaps. What kind of information is stored in each one? For example, if my global planner computes the shortest path among two points of a map, is in the global costmap the distance of each street that the global planner will use for the computation of the path or what information is stored in the costmap? I have read ros navigation stack documentation and I do not have clear what information can store. Also, the structure of the navigation stack is in the previous link.
Thank you so much for your help!!
artificial-intelligence openstreetmap ros robotics robot
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
I'm looking the navigation stack of ros and I have a doubt regarding local and global costmaps. What kind of information is stored in each one? For example, if my global planner computes the shortest path among two points of a map, is in the global costmap the distance of each street that the global planner will use for the computation of the path or what information is stored in the costmap? I have read ros navigation stack documentation and I do not have clear what information can store. Also, the structure of the navigation stack is in the previous link.
Thank you so much for your help!!
artificial-intelligence openstreetmap ros robotics robot
artificial-intelligence openstreetmap ros robotics robot
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
asked Nov 23 '18 at 12:11
Ivan SanchezIvan Sanchez
62
62
add a comment |
add a comment |
2 Answers
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oldest
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As far as I know, the difference is simple.
- In the global costmap is everything the robot knows from previous visits and stored knowledge e.g. the map.
- In the local costmap is everything that can be known from the current position with the sensors right know. E.g. walking people and other moving objects, as well as every wall etc. that can be seen.
For example, it could happen that there is a path on the global map that doesn't exist anymore because it is blocked. The robot will still drive along this path until he can observe the problem and plan around.
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
add a comment |
The content is/can be the same, but there are other differences:
- resolution
- how long is sensor data stored? (The local costmap moves with the robot and discards old data, if falls outside after moving.)
- how often is the costmap updated?
- what happens if the global or local planner are blocked?
- different inflation.
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
add a comment |
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2 Answers
2
active
oldest
votes
2 Answers
2
active
oldest
votes
active
oldest
votes
active
oldest
votes
As far as I know, the difference is simple.
- In the global costmap is everything the robot knows from previous visits and stored knowledge e.g. the map.
- In the local costmap is everything that can be known from the current position with the sensors right know. E.g. walking people and other moving objects, as well as every wall etc. that can be seen.
For example, it could happen that there is a path on the global map that doesn't exist anymore because it is blocked. The robot will still drive along this path until he can observe the problem and plan around.
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
add a comment |
As far as I know, the difference is simple.
- In the global costmap is everything the robot knows from previous visits and stored knowledge e.g. the map.
- In the local costmap is everything that can be known from the current position with the sensors right know. E.g. walking people and other moving objects, as well as every wall etc. that can be seen.
For example, it could happen that there is a path on the global map that doesn't exist anymore because it is blocked. The robot will still drive along this path until he can observe the problem and plan around.
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
add a comment |
As far as I know, the difference is simple.
- In the global costmap is everything the robot knows from previous visits and stored knowledge e.g. the map.
- In the local costmap is everything that can be known from the current position with the sensors right know. E.g. walking people and other moving objects, as well as every wall etc. that can be seen.
For example, it could happen that there is a path on the global map that doesn't exist anymore because it is blocked. The robot will still drive along this path until he can observe the problem and plan around.
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
As far as I know, the difference is simple.
- In the global costmap is everything the robot knows from previous visits and stored knowledge e.g. the map.
- In the local costmap is everything that can be known from the current position with the sensors right know. E.g. walking people and other moving objects, as well as every wall etc. that can be seen.
For example, it could happen that there is a path on the global map that doesn't exist anymore because it is blocked. The robot will still drive along this path until he can observe the problem and plan around.
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
answered Nov 23 '18 at 16:37
DarkproductDarkproduct
18915
18915
add a comment |
add a comment |
The content is/can be the same, but there are other differences:
- resolution
- how long is sensor data stored? (The local costmap moves with the robot and discards old data, if falls outside after moving.)
- how often is the costmap updated?
- what happens if the global or local planner are blocked?
- different inflation.
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
add a comment |
The content is/can be the same, but there are other differences:
- resolution
- how long is sensor data stored? (The local costmap moves with the robot and discards old data, if falls outside after moving.)
- how often is the costmap updated?
- what happens if the global or local planner are blocked?
- different inflation.
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
add a comment |
The content is/can be the same, but there are other differences:
- resolution
- how long is sensor data stored? (The local costmap moves with the robot and discards old data, if falls outside after moving.)
- how often is the costmap updated?
- what happens if the global or local planner are blocked?
- different inflation.
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
The content is/can be the same, but there are other differences:
- resolution
- how long is sensor data stored? (The local costmap moves with the robot and discards old data, if falls outside after moving.)
- how often is the costmap updated?
- what happens if the global or local planner are blocked?
- different inflation.
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
answered Dec 4 '18 at 18:31
OrchaldirOrchaldir
116
116
add a comment |
add a comment |
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