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) |
