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.
|
clearable_layers: |
|
Type |
Default |
vector<string> |
{“obstacle_layer”, “voxel_layer”, “range_layer”} |
- Description
Layers that may be cleared using the clearing service.
|
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"
|