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tutorials:intermediate:costmaps [2022/04/27 13:52] – [Creating your own cost function] schimpf | tutorials:intermediate:costmaps [2022/04/27 14:02] (current) – [Creating your own cost function] schimpf | ||
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===== Setup ===== | ===== Setup ===== | ||
+ | *set up the environment in our terminal by calling the launch file: | ||
- | * launch the map-server in a terminal with < | + | |
- | | + | |
+ | |||
+ | *start a node in REPL with (roslisp-utilities: | ||
- | * start a node in REPL with (roslisp-utilities: | ||
* define costmap parameters: | * define costmap parameters: | ||
Line 27: | Line 29: | ||
<code lisp> | <code lisp> | ||
(prolog: | (prolog: | ||
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
- | (prolog:< | + | (prolog:< |
</ | </ | ||
Line 101: | Line 103: | ||
(if (and (< (cl-transforms: | (if (and (< (cl-transforms: | ||
(> (abs (/ (cl-transforms: | (> (abs (/ (cl-transforms: | ||
- | (abs (/ (cl-transforms: | + | 1 |
- | 0.0d0))))) | + | |
- | </ | + | </ |
+ | To summerize, we can see that the individual value in the costmap generator is set to 1 if it is behind the reference point and else it's set to 0. | ||
* define order for your costmap function and give it a name: | * define order for your costmap function and give it a name: |