{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/grid_map/issues/76","repository_url":"https://api.github.com/repos/ethz-asl/grid_map","labels_url":"https://api.github.com/repos/ethz-asl/grid_map/issues/76/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/grid_map/issues/76/comments","events_url":"https://api.github.com/repos/ethz-asl/grid_map/issues/76/events","html_url":"https://github.com/ethz-asl/grid_map/issues/76","id":188866005,"number":76,"title":"Conversion from CostMap2D to GridMap","user":{"login":"skohlbr","id":205963,"avatar_url":"https://avatars.githubusercontent.com/u/205963?v=3","gravatar_id":"","url":"https://api.github.com/users/skohlbr","html_url":"https://github.com/skohlbr","followers_url":"https://api.github.com/users/skohlbr/followers","following_url":"https://api.github.com/users/skohlbr/following{/other_user}","gists_url":"https://api.github.com/users/skohlbr/gists{/gist_id}","starred_url":"https://api.github.com/users/skohlbr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skohlbr/subscriptions","organizations_url":"https://api.github.com/users/skohlbr/orgs","repos_url":"https://api.github.com/users/skohlbr/repos","events_url":"https://api.github.com/users/skohlbr/events{/privacy}","received_events_url":"https://api.github.com/users/skohlbr/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2016-11-11T22:35:25Z","updated_at":"2016-11-23T01:46:40Z","closed_at":null,"body":"Standard ROS navigation uses [CostMap2D](https://github.com/ros-planning/navigation/blob/0fec250ead4a8b2c5ed2e6d1e3efb28e7885c12e/costmap_2d/src/costmap_2d.cpp) as a cost map representation and when implementing a [nav_core::BaseGlobalPlanner](https://github.com/ros-planning/navigation/blob/0fec250ead4a8b2c5ed2e6d1e3efb28e7885c12e/nav_core/include/nav_core/base_global_planner.h#L48) plugin that uses grid_map as a back-end, it would be desirable to have a converter that allows initalizing the internal grid_map from a CostMap2D.\r\nAre there any plans for implementing this (or even some implementation out there that I missed)?"},"comment":{"url":"https://api.github.com/repos/ethz-asl/grid_map/issues/comments/262417301","html_url":"https://github.com/ethz-asl/grid_map/issues/76#issuecomment-262417301","issue_url":"https://api.github.com/repos/ethz-asl/grid_map/issues/76","id":262417301,"user":{"login":"skohlbr","id":205963,"avatar_url":"https://avatars.githubusercontent.com/u/205963?v=3","gravatar_id":"","url":"https://api.github.com/users/skohlbr","html_url":"https://github.com/skohlbr","followers_url":"https://api.github.com/users/skohlbr/followers","following_url":"https://api.github.com/users/skohlbr/following{/other_user}","gists_url":"https://api.github.com/users/skohlbr/gists{/gist_id}","starred_url":"https://api.github.com/users/skohlbr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skohlbr/subscriptions","organizations_url":"https://api.github.com/users/skohlbr/orgs","repos_url":"https://api.github.com/users/skohlbr/repos","events_url":"https://api.github.com/users/skohlbr/events{/privacy}","received_events_url":"https://api.github.com/users/skohlbr/received_events","type":"User","site_admin":false},"created_at":"2016-11-23T01:46:40Z","updated_at":"2016-11-23T01:46:40Z","body":"Thanks for the link @stonier! I made my own small converter by pulling out some code from navigation, converting from CostMap2D to nav_msgs/OccupancyGrid and then just using the conversion to GridMap. Not terribly efficient, but gets the job done: https://github.com/tu-darmstadt-ros-pkg/grid_map_navigation_planner/blob/master/grid_map_planner_nav_plugin/include/grid_map_planner_nav_plugin/grid_map_cost_map_2d_conversion.h#L71"}}
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