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@nathanhhughes The old tsdf occupancy publisher broke when there were ramps and hills, causing some issues with the mid-level planner. I'm not sure if these changes are ready to be merged and how we should try that in the DCSIT system. So I thought it was best to pin you to get an idea. |
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@MultyXu yeah, this will need some work on the Hydra side to actually merge in (it doesn't make sense to duplicate the code and work of the gradient-based traversability estimator), but easy to keep rebasing on top of develop if we have to make other changes to Hydra-Ros |
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Add a gradient-based map publisher for the mid-level planner and other functionalities.