Updated documentation.

README.md

@@ -10,7 +10,7 @@ Features:
 * **Efficient map re-positioning:** Data storage is implemented as two-dimensional circular buffer. This allows for non-destructive shifting of the map's position (e.g. to follow the robot) without copying data in memory.
 * **Based on Eigen:** Grid map data is stored as [Eigen] data types. Users can apply available Eigen algorithms directly to the map data for versatile and efficient data manipulation.
 * **Convenience functions:** Several helper methods allow for convenient and memory safe cell data access. For example, iterator functions for rectangular, circular, polygonal regions and lines are implemented.
-* **ROS interface:** Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message.
+* **ROS interface:** Grid maps can be directly converted to and from ROS message types such as PointCloud2, OccupancyGrid, GridCells, and our custom GridMap message. This package also contains compatibility with [costmap_2d](http://wiki.ros.org/costmap_2d).
 * **OpenCV interface:** Grid maps can be seamlessly converted from and to [OpenCV] image types to make use of the tools provided by [OpenCV].
 * **Visualizations:** The *grid_map_rviz_plugin* renders grid maps as 3d surface plots (height maps) in [RViz]. Additionally, the *grid_map_visualization* package helps to visualize grid maps as point clouds, occupancy grids, grid cells etc.
 

grid_map_ros/CHANGELOG.rst

@@ -4,6 +4,8 @@ Changelog for package grid_map_ros
 
 Forthcoming
 -----------
+* Added conversion for Costmap2D from ROS Navigation.
+* Contributors: Peter Fankhauser, Stefan Kohlbrecher
 
 1.4.1 (2016-10-23)
 ------------------

grid_map_ros/test/Costmap2DConverterTest.cpp

@@ -18,7 +18,7 @@
 
 using namespace grid_map;
 
-TEST(Costmap2DConversion, initializeFrom)
+TEST(Costmap2DConversion, initializeFromCostmap2d)
 {
   Costmap2DConverter<GridMap> costmap2dConverter;
   // Create Costmap2D.
@@ -41,7 +41,7 @@ TEST(Costmap2DConversion, initializeFrom)
   EXPECT_EQ(costmap2d.getOriginY(), position.y());
 }
 
-TEST(Costmap2DConversion, convertFrom)
+TEST(Costmap2DConversion, addLayerFromCostmap2d)
 {
   Costmap2DConverter<GridMap> costmap2dConverter;