Global costmap for navigation as a plugin for the ROS navigation package.
Description
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Examples
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Input List
There are 0 parameters.
| Port Name | Message type | Callback |
|---|---|---|
Output List
There are 1 parameters.
| Port Name | Message type |
|---|---|
| plugin | Plugin [movai_msgs-ROS1/PluginClient][movai_msgs-ROS1/PluginClient] |
Parameter List
There are 17 parameters.
| Parameter | Description |
|---|---|
| always_send_full_costmap | [bool] If true the full costmap is published to "~<name>/costmap" every update. If false only the part of the costmap that has changed is published on the "~<name>/costmap_updates" topic. |
| footprint_padding | [double] Amount to pad footprint (m) |
| global_frame | [string] The global frame for the costmap to operate in |
| inflation_layer | [dictionary] parameters for the inflation layer |
| map_type | [string] What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world |
| obstacle_detector_layer | [dictionary] parameters for the obstacle detector layer |
| obstacle_layer | [dictionary] parameters for the obstacle layer |
| plugins | [list] Sequence of plugin specifications, one per layer. Each specification is a dictionary with name and type fields. The name is used to define the parameter namespace for the plugin |
| publish_frequency | [double] The frequency in Hz for the map to be publish display information |
| publish_voxel_map | [bool] Whether or not to publish the underlying voxel grid for visualization purposes |
| robot_base_frame | [string] The name of the frame for the base link of the robot |
| robot_radius | [double] Robot radius to use, if footprint coordinates not provided |
| rolling_window | [bool] Whether or not to use a rolling window version of the costmap. If the static_map parameter is set to true, this parameter must be set to false |
| static_layer | [dictionary] parameters for the static layer |
| static_map | [bool] whether or not to use the static map. The static map incorporates mostly unchanging data from an external source |
| transform_tolerance | [double] Specifies the delay in transform (tf) data that is tolerable in seconds. This parameter serves as a safeguard to losing a link in the tf tree while still allowing an amount of latency the user is comfortable with to exist in the system. For example, a transform being 0.2 seconds out-of-date may be tolerable, but a transform being 8 seconds out of date is not. If the tf transform between the coordinate frames specified by the global_frame and robot_base_frame parameters is transform_tolerance seconds older than ros::Time::now(), then the navigation stack will stop the robot. |
| update_frequency | [float] The frequency in Hz for the map to be updated |