cornellev / cornellev/autonomy
Convert perception occupancy grid to Nav2 costmap
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Description
- [Nav2 Costmap 2d documentation](https://docs.nav2.org/configuration/packages/configuring-costmaps.html)
- Add obstacles either based on clustering or raw LiDar output to costmap (publish LiDAR outputs to a topic and retrieve information from that topic)
- Add an inflation layer that ensures we don’t go too close to obstacles
- Get lane segmentation result and highlight anything outside of lane as obstacle
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