Two sensor inputs for map_overlay

[yutakaoka]

Hi,

Is there any way to deal with two sensor inputs(e.g laser and pointcloud) for making a "map_overlay" at once? I just wanted to utilize laser and point cloud info as one obstacle map.

Thanks,

[at-wat]

It is not yet supported by the nodes in the costmap_cspace package.
The simplest workaround is using laser_filters scan_to_cloud_filter_chain without any filter plugin to convert LaserScan to PointCloud2.
pointcloud2_to_map node supports multiple sources of the input cloud on one cloud topic.

[yutakaoka]

Thank you for your advice. It seemed to be working well.

[at-wat]

#106 added the feature to overlay multiple costmaps.