Layered-costmap with second laserScan

[I-chun Han]

Hi skasperski,
I'm trying to create a layered-cosmap by costmap2d plugin module with seceond laserScan.
Should the Operaor node subscribe to the second laserSacn? or just add another observation source on costmap.yaml and specify a frame and a topic?

Many thanks,
I-chun

[Sebastian Kasperski]

Hi I-Chun,
I think this should be done as you suggested via the costmap.yaml. The Costmap handles all the incoming sensor readings by itself, so there is no need to do this in the Operator. (The Operator also does not subscribe to the laser-scan itself, because it is managed by the costmap.)

Best regards,
Sebastian