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Make route_grid_publisher node #390

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jruths opened this issue Oct 30, 2023 · 0 comments

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jruths commented Oct 30, 2023 •

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Currently the grid_summation_node subscribes to the /planning/route topic and constructs a grid that highlights the route as low-cost. This should get pulled out of the grid_summation_node and into a new node that publishes /grid/route_distance (which will feed into the grid_summation_node).
The current implementation of this just assigns a narrow low cost area, but it would be good to roughly fade this cost as it goes away from the route.

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