ROS：：对costmap_2d的某一层地图做操作

ROS：：对costmap_2d的某一层地图做操作

//取出global_costmap_所有的地图层
std::vector<boost::shared_ptr<costmap_2d::Layer> >* plugins = global_costmap_->getLayeredCostmap()->getPlugins();

//遍历所有的层，搜索要操作的层
for (std::vector<boost::shared_ptr<costmap_2d::Layer> >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) 
{
   boost::shared_ptr<costmap_2d::Layer> plugin = *pluginp;

   //找到名字为obstacles的地图层
   if(plugin->getName().find("obstacles")!=std::string::npos)
   {
          boost::shared_ptr<costmap_2d::ObstacleLayer> costmap;
          costmap = boost::static_pointer_cast<costmap_2d::ObstacleLayer>(plugin);

          //操作该层
          costmap->setConvexPolygonCost(global_poly, costmap_2d::FREE_SPACE);
   }
}