question about the topic "/move_base/global_costmap/costmap" in the bag

[lxa199709]

excuse me ,could you please help me to resolve a question,which is that how to make a costmap such as the topic "/move_base/global_costmap/costmap" map,just use the ros move_base package ,or make it by coding ? last ,highly appreciate if you can answer me !

[TixiaoShan]

@lxa199709
The "/move_base/global_costmap/costmap" map is the output from move_base. No need to code it yourself. Just make sure move_base is running and has the correct inputs, such as odometry, laser cloud, etc.