strands-project/scitos_2d_navigation — pull request #35 by nilsbore (2014-04-28 13:44:15+00:00)
Title: Add an optional no-go static layer to the layered costmap

This adds an optional no-go map layer to the layered costmap configuration. If you want to use it, copy your `/path/to/map.pgm` to `/path/to/edited_map.pgm`, edit it with no-go areas, and start it with the arguments `roslaunch scitos_2d_navigation scitos_2d_nav.launch map:=/path/to/map.yaml with_no_go_map:=true no_go_map:=/path/to/edited_map.yaml`. This configuration should not (and hasn't, in our tests,) plan through walls or no-go areas. This should solve https://github.com/strands-project/strands_management/issues/70.