Inflate obstacles
brunopinto900 opened this issue · 1 comments
brunopinto900 commented
Hello,
Is there a way to inflate octomap to consider the robot's radius when planning?
Thank you.
ahornung commented
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