I am trying to subscribe to the local costmap produced in move_base in order to use it, in a separate node, for navigation.
This is how I am currently approaching it in my code:
typedef actionlib::SimpleActionClient MoveBaseClient;
typedef nav_msgs::OccupancyGrid occupancyGrid;
occupancyGrid global_map;
void costmapcallback(occupancyGrid costmap){
global_map = costmap;
}
ros::Subscriber subOGrid = banana_nav.subscribe("move_base/local_costmap/costmap_updates",1000,costmapcallback);
field_length = global_map.info.height;
field_width = global_map.info.width;
There seems to be a connection between my node and move_base/local_costmap_updates but whenever global_map.info.height/width is called it always returns zeros for both which leads me to believe that the local costmap is never being sent to or saved by the global_map occupancy grid. Why would there be a connection between the nodes, seen via RQT, yet nothing is actually stored to the global_map occupancy grid? This is only a small portion of my code but if more is needed I will upload more.
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