Gazebo Scene Descriptor for CHOMP

This ROS packages reads published Models State in a Gazebo world and translate them to Obstacle Map (for obstacles) and path(for goal) as defined in Cargo-ANTS projects.

Build and Run:

You need the following additional ROS packages.

• Cargo-ANTS Messages

Once all packages are placed inside catkin workspace:

cd location\of\catkin_ws
catkin_make

Notes:

• Only objects with names prefixed "Obs" are reported.
• Goal is read from any object with the name "Goal_Cone".