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 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)

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