How to use panmap in navigation

[XuechenCao]

how can i use the panmap file (rosservice call /panoptic_mapper/save_map "file_path: '/path/to/run1.panmap'" ) in the navigation, can i transport the panmap to costmap or some other type map file

[Schmluk]

Hi @XuechenCao

There is a Planning Interface that wraps the submap collection and lets you access it as if it were a regular grid map, i.e. you can get the occupancy or distances for 3D points, which should be sufficient for planning.

Hope that helps, let us know how it goes!