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mapcspace [Drivers] The mapcspace driver reads a occupancy grid map from another map device and convolves it with a robot of a particular shape and size to create the configuration space (C-space) map. That is, this driver "grows" obstacles in the map to produce a new map in which, for path-planning purposes, you can consider the robot to be a point. Both occupied and unknown cells are grown. Note that map devices produce no data; the map is delivered via a sequence of configuration requests. Compile-time dependencies none Provides map : the resulting C-space map Requires map : the raw map, from which to make the C-space map Configuration requests PLAYER_MAP_GET_INFO_REQ PLAYER_MAP_GET_DATA_REQ Configuration file options robot_radius (length) Default: -1.0 The radius of the robot to convolve with the map robot_shape (string) Default: "circle" The shape of the robot to convolve with the map. Should be one of: "circle". Example driver ( name "mapfile" provides ["map:0"] filename "mymap.pgm" resolution 0.1 # 10cm per pixel ) driver ( name "mapcspace" requires ["map:0"] # read from map:0 provides ["map:1"] # output C-space map on map:1 robot_shape "circle" robot_radius 0.5 m ) Authors Brian Gerkey