15 lines
830 B
Plaintext
Executable File
15 lines
830 B
Plaintext
Executable File
uint8 LOCAL_COSTMAP = 1
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uint8 GLOBAL_COSTMAP = 2
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geometry_msgs/PointStamped point # the point to be checked after transforming to costmap frame
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uint8 costmap # costmap in which to check the point
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---
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uint8 FREE = 0 # point is in traversable space
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uint8 INSCRIBED = 1 # point is in inscribed space
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uint8 LETHAL = 2 # point is in collision
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uint8 UNKNOWN = 3 # point is in unknown space
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uint8 OUTSIDE = 4 # point is outside the map
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uint8 state # point state: FREE, INFLATED, LETHAL, UNKNOWN or OUTSIDE
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uint32 cost # cost of the cell at point
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