Comments (2)
Hi Murat
Yes, you would have to convert the Occupancy Grid Map to a polygon map somehow.
In general, you can set a new polygon via rosservice call /coverage_planner/set_polygon
and plan a new path via rosservice call /coverage_planner/plan_path
. However, this planner is intended for more of a static map. If you constantly update the map and the plan it will not really be continuous. Let's say you could update the plan probably once per room, but not with 5 Hz. If you have fast update rates, you probably want to use some spanning tree like algorithm that works on a discrete map.
from polygon_coverage_planning.
thanks. i understood clearly.
from polygon_coverage_planning.
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from polygon_coverage_planning.