Costmap #639
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Costmap #639
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ankithu
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qhdwight
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Summary
Closes #610
Added costmap (occupancy grid) in the map frame filled based on point cloud normals.
Did you add documentation to the wiki?
No because not finished
How was this code tested?
The costmap generation was tested in the sim:
Here, black represents low cost, dark grey represents high cost, and light grey represents cells for which data hasn't been collected yet.
Here is the corresponding terrain:
Did you test this in sim?
Yes
Did you test this on the rover?
No
Did you add unit tests?
No