clone this repository and build the pkg

git clone git@github.com:yuki-shark/jsk_path_planner.git
catkin build

ROS packages

• safe_footstep_planner
• navigation
• navigation_layers

roslaunch jsk_path_planner JAXON_RED_path_planner.launch

roslaunch jsk_path_planner JAXON_RED_push_cart.launch

roslaunch jsk_path_planner JAXON_RED_wheelbarrow.launch

files named cosmap_{target}_{suffix}.yaml

set lethal cost at obstacles

inflate obstacle layer's grid

set cost depending on inclination of the ground

set cost for known object each object cost can be set in config/database.json

inflate gradient layer's grid