Local Map

[schmittlema]

Is there a way to limit the occupancy map size so as to create a local map? I would like to minimize computation time since I do not need the global map to perform local path planning.

[matlabbe]

Hi,

You may use the local costmap created by move_base to do local planning, which is fixed and generally small (e.g., 5x5 meters).

What maximum size of the global map published by rtabmap would you want (at a resolution of 5 cm cell)? If 20/30 meters is enough, we could save some computation time when generating the global occupancy grid map, though not sure it would be significant (unless you have a map over 50/100 meters wide). Is it your local planning approach that may significantly uses less computation time if the map is limited to a fixed size?

cheers,
Mathieu

[schmittlema]

Thank you for the feedback. I am not familiar with costmap and i can't seem to find it in the ros wiki. Is there a place I can learn more?

And unfortunately yes, my simulated evironment is around 150 m x 25 m large.

[matlabbe]

Hi,

The local costmap is generated from move_base. Look at the navigation tutorials for an introduction to navigation stack of ROS, in particular the RobotSetup tutorial (here the local costmap is 6x6 meters).

EDIT
You can also look at the global planner plugin tutorial to integrate your planning approach to move_base, though for local planning similar to teb_local_planner.

cheers,
Mathieu