Global costmap for navigation as a plugin for the ROS navigation package.





Input List

There are 0 parameters.

Port NameMessage typeCallback

Output List

There are 1 parameters.

Port NameMessage type
pluginPlugin [movai_msgs-ROS1/PluginClient]

Parameter List

There are 17 parameters.

always_send_full_costmap[bool] If true the full costmap is published to "~/costmap" every update. If false only the part of the costmap that has changed is published on the "~/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 For example, a transform being 0.2 seconds out-of-date may be tolerable, but a transform being 8 seconds out of date is not.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

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