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1 | initial version |
Here's an example layering a static map on top of your usual obstacle + inflation local costmap
local_costmap_params.yaml
local_costmap:
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 5.0
update_frequency: 5.0
publish_frequency: 2.0
obstacles:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
More details on the types of layers supported can be found here: https://github.com/ros-planning/navigation/blob/melodic-devel/costmap_2d/src/costmap_2d_ros.cpp#L279
2 | No.2 Revision |
Here's an example layering a static map on top of your usual obstacle + inflation local costmap
local_costmap_params.yaml
local_costmap:
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 5.0
update_frequency: 5.0
publish_frequency: 2.0
obstacles:
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
More details on the types of layers supported can be found here: https://github.com/ros-planning/navigation/blob/melodic-devel/costmap_2d/src/costmap_2d_ros.cpp#L279