This project forked from kdh4970/nav_cctv
CCTV layer & Layered Costmap 병합
2022 Capstone Design (A - AGV)
ROS navigation costmap에 cctv layer를 병합.
global costmap : static layer, cctv layer, inflation layer
local costmap : obstacle layer, inflation layer
cctv.launch >> /points topic(cctv영상에 YOLO 알고리즘을 적용하여 얻어낸 동적장애물(사람)의 좌표)을 subscribe하여 navigation costmap에 병합하여 출력
마킹반경을 동적재구성이 가능하도록 적용.
move_base/global_costmap/cctv_layer
lethal_radius = 좌표 마킹반경
ros-planning navigation package (costmap_2d, move_base)
practice package (제어부에서 만든 모바일로봇 컨트롤 패키지)
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