Obstacle Distance Manager

A metapackage that contains the methods to compute and to publish an occupancy grid based on a distance transform function to obstacles.

Dependencies

• OpenCV

Functioning

3 working modes:

1. the node works through a service (/get_obstacle_distance) which receives an OccupancyGrid as input and returns an ObstacleDistance msg.

2. The node uses the map_server service /map to get the static map only once, and send the created ObstacleDistance when receives a call to the service /get_static_obstacle_distance.

3. The node subcribes to the OccupancyGrid topic published by a local or a global costmap (the user must indicate the topic name) and publishes the created ObstacleDistance in the topic /obstacle_distance

Parameters

• mode: working mode.
• obstacle_threshold: values of the input occupancy grid above this threshold are considered as obstacles (Default: 70).
• costmap_topic: name of the costamp topic to get the occupancy grid from (only used in mode 3). (Default: /global_costmap/costmap).