global_costmap

plugin

Plugin [movai_msgs-ROS1/PluginClient][movai_msgs-ROS1/PluginClient]

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 For example, a transform being 0.2 seconds out-of-date may be tolerable, but a transform being 8 seconds out of date is not.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