Mapped obstacles

Introduction

This plug-in is dependent on the mapbase plug-in, and must be loaded after the mapbase plug-in, otherwise all links are not resolved.

The plugin are primarily used by the ulmspassable plug-in to correlate laser scanner obstacles with known fixed obstales.

General description

The method 'getObst' finds mapped lines near a box arount current positin. These lines are then converted to a local (odometry) coordinates based on a provided origin pose of the new coordinate system.