Where is the local_costmap node in the source code?

[hu yuanze]

Hi, I am working on integrating other sensors to the navigation. What I planned to do is that there will be another node keep adding stuffs to the local cost map, since I would to do some object avoidance. So I really want to look at the source code of the local_costmap node. Is this here: https://github.com/ros-planning/navigation/tree/kinetic-devel/costmap_2d ? Any advice? 

Thank you so much!

Alex

[David Lu!!]

That is the proper source code. What you probably want to do is develop a new layer for the costmap. 

http://wiki.ros.org/costmap_2d/Tutorials/Creating%20a%20New%20Layer

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[Jit Ray Chowdhury]

The same costmap_2d library is loaded as a plugin twice in move_base with 2 different sets of configurations (sometimes with some commonalities too)

Using these configurations you can inturn load different sensor/layer plugins for the individual costmaps, which can be custom written as mentioned by @David

move_base references

global_costmap https://github.com/ros-planning/navigation/blob/ac41d2480c4cf1602daf39a6e9629142731d92b0/move_base/src/move_base.cpp#L112

and

local_costmap  https://github.com/ros-planning/navigation/blob/ac41d2480c4cf1602daf39a6e9629142731d92b0/move_base/src/move_base.cpp#L125

cofiguring costmap example

https://github.com/jitrc/eklavya2015-ros-pkg/blob/master/eklavya_launch/launch/odom_navigation_demo.launch

With regards,
Jit Ray Chowdhury
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