Local costmap as a plugin for the ROS navigation (costmap_2d 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] |
Parameter List
There are 21 parameters.
| Parameter | Description |
|---|---|
| footprint_padding | [float] Padding around footprint |
| global_frame | [str] The global frame for the costmap to operate in. |
| height | [float] The height of the map [m] (can be overwritten by some layers, namely the static map layer). |
| inflation_layer | [float] cost_scaling_factor: A scaling factor to apply to cost values during inflation: exp(-1.0 cost_scaling_factor (distance_from_obstacle - inscribed_radius)) * (costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1) [bool] enabled [float] inflation_radius: The radius in meters to which the map inflates obstacle cost values. |
| map_type | [str] map type, can be "costmap" for 2D or "voxel" for 3D |
| obstacle_detector_layer | [int] combination_method: Changes the behaviour how the obstacle_layer handles incoming data from layers beyond it. Possible values are "Overwrite" (0), "Maximum" (1) and "Nothing" (99). [bool] inf_is_valid: Allows for Inf values in "LaserScan" observation messages. The Inf values are converted to the laser maximum range. [float] max_obstacle_height: The maximum height of any obstacle to be inserted into the costmap in meters. This parameter should be set to be slightly higher than the height of your robot. [float] inflation_radius: obstacle inflation radius (m) observation_sources: A list of observation source names separated by spaces. Each source_name in observation_sources defines a namespace in which parameters can be set: - [bool] clearing: Whether or not this observation should be used to clear out freespace. - [str] data_type: The data type associated with the topic, right now only "PointCloud", "PointCloud2", and "LaserScan" are supported. - [bool] marking: Whether or not this observation should be used to mark obstacles. - [float] observation_persistence: How long to keep each sensor reading [s]. A value of 0.0 will only keep the most recent reading. - [str] topic: The topic on which sensor data comes in for this source. Defaults to the name of the source. [float] obstacle_range: The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters. This can be over-ridden on a per-sensor basis. [float] raytrace_range: The default range in meters at which to raytrace out obstacles from the map using sensor data. This can be over-ridden on a per-sensor basis. [bool] track_unknown_space: If false, each pixel has one of 2 states: lethal obstacle or free. If true, each pixel has one of 3 states: lethal obstacle, free, or unknown. |
| obstacle_layer | [int] combination_method: Changes the behaviour how the obstacle_layer handles incoming data from layers beyond it. Possible values are "Overwrite" (0), "Maximum" (1) and "Nothing" (99). [bool] inf_is_valid: Allows for Inf values in "LaserScan" observation messages. The Inf values are converted to the laser maximum range. [float] max_obstacle_height: The maximum height of any obstacle to be inserted into the costmap in meters. This parameter should be set to be slightly higher than the height of your robot. observation_sources: A list of observation source names separated by spaces. Each source_name in observation_sources defines a namespace in which parameters can be set: - [bool] clearing: Whether or not this observation should be used to clear out freespace. - [str] data_type: The data type associated with the topic, right now only "PointCloud", "PointCloud2", and "LaserScan" are supported. - [bool] marking: Whether or not this observation should be used to mark obstacles. - [float] observation_persistence: How long to keep each sensor reading [s]. A value of 0.0 will only keep the most recent reading. - [str] topic: The topic on which sensor data comes in for this source. Defaults to the name of the source. - [float] min_obstacle_height: The minimum height in meters of a sensor reading considered valid. This is usually set to be at ground height, but can be set higher or lower based on the noise model of your sensor. [float] obstacle_range: The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters. This can be over-ridden on a per-sensor basis. [float] raytrace_range: The default range in meters at which to raytrace out obstacles from the map using sensor data. This can be over-ridden on a per-sensor basis. [bool] track_unknown_space: If false, each pixel has one of 2 states: lethal obstacle or free. If true, each pixel has one of 3 states: lethal obstacle, free, or unknown. |
| origin_x | [float] The x origin of the map in the global frame (m). |
| origin_y | [float] The y origin of the map in the global frame (m). |
| plugins | 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 | [float] The frequency (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 (obstacle layer) |
| resolution | [float] The resolution of the map (m/cell). |
| robot_base_frame | [str] The name of the frame for the base link of the robot. |
| robot_radius | [float] The radius of the robot in meters, this parameter should only be set for circular robots, all others should use the "footprint" parameter. |
| 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 | Static layer parameters: |
| static_map | [bool] Whether or not the costmap is initialised based on a static map (from map_server). |
| transform_tolerance | [float] Specifies the delay in transform (tf) data that is tolerable (s). |
| update_frequency | [float] The frequency (Hz) for the map to be updated. |
| width | [float] The width of the map [m] (can be overwritten by some layers, namely the static map layer) |