| always_send_full_costmap: |
|---|
| |
- Description
Whether to send full costmap every update, rather than updates.
|
| footprint_padding: |
|---|
| |
- Description
Amount to pad footprint (m).
|
| footprint: |
| Type |
Default |
| vector<double> |
“[]” |
- Description
Ordered set of footprint points passed in as a string, must be closed set. For example, the following defines a square base with side lengths of 0.2 meters footprint: “[ [0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1] ]”.
|
|---|
| global_frame: |
| Type |
Default |
| string |
“map” |
- Description
Reference frame.
|
|---|
| height: |
- Description
Height of costmap (m).
|
|---|
| width: |
- Description
Width of costmap (m).
|
|---|
| lethal_cost_threshold: |
|---|
| |
- Description
Minimum cost of an occupancy grid map to be considered a lethal obstacle.
|
| map_topic: |
| Type |
Default |
| string |
“map” |
- Description
Topic of map from map_server or SLAM.
|
|---|
| observation_sources: |
|---|
| |
- Description
List of sources of sensors as a string, to be used if not specified in plugin specific configurations. Ex. “static_layer stvl_layer”
|
| origin_x: |
- Description
X origin of the costmap relative to width (m).
|
|---|
| origin_y: |
- Description
Y origin of the costmap relative to height (m).
|
|---|
| publish_frequency: |
|---|
| |
- Description
Frequency to publish costmap to topic.
|
| resolution: |
- Description
Resolution of 1 pixel of the costmap, in meters.
|
|---|
| robot_base_frame: |
|---|
| |
| Type |
Default |
| string |
“base_link” |
- Description
Robot base frame.
|
| robot_radius: |
- Description
Robot radius to use, if footprint coordinates not provided.
|
|---|
| rolling_window: |
- Description
Whether costmap should roll with robot base frame.
|
|---|
| track_unknown_space: |
|---|
| |
- Description
If false, treats unknown space as free space, else as unknown space.
|
| transform_tolerance: |
|---|
| |
- Description
TF transform tolerance.
|
| trinary_costmap: |
|---|
| |
- Description
If occupancy grid map should be interpreted as only 3 values (free, occupied, unknown) or with its stored values.
|
| unknown_cost_value: |
|---|
| |
- Description
Cost of unknown space if tracking it.
|
| update_frequency: |
|---|
| |
- Description
Costmap update frequency.
|
| use_maximum: |
- Description
whether when combining costmaps to use the maximum cost or override.
|
|---|
| plugins: |
| Type |
Default |
| vector<string> |
{“static_layer”, “obstacle_layer”, “inflation_layer”} |
- Description
List of mapped plugin names for parameter namespaces and names.
- Note
Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.
Example:
local_costmap:
ros__parameters:
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
|
|---|
| filters: |
| Type |
Default |
| vector<string> |
{} |
- Description
List of mapped costmap filter names for parameter namespaces and names.
- Note
Costmap filters are also loadable plugins just as ordinary costmap layers. This separation is made to avoid plugin and filter interference and places these filters on top of the combined layered costmap. As with plugins, each costmap filter namespace defined in this list needs to have a plugin parameter defining the type of filter plugin to be loaded in the namespace.
Example:
local_costmap:
ros__parameters:
filters: ["keepout_filter", "speed_filter"]
keepout_filter:
plugin: "nav2_costmap_2d::KeepoutFilter"
speed_filter:
plugin: "nav2_costmap_2d::SpeedFilter"
|
|---|