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Inflate obstacles #366

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brunopinto900 opened this issue Mar 18, 2022 · 1 comment

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brunopinto900 commented Mar 18, 2022

Hello,

Is there a way to inflate octomap to consider the robot's radius when planning?

Thank you.

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ahornung commented Mar 29, 2022 •

edited

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It's not built-in in OctoMap, but have a look at the accompanying "dynamicEDT3D" package, also in this repository. It's described in the paper here: http://ais.informatik.uni-freiburg.de/publications/papers/lau11ecmr.pdf

ahornung added the question label

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