Disable global costmap

edit

Hey everyone,

I am currently building a robot with its own global planner plugin. This means that the global planner does not need the global costmap any more, instead it takes a graph (based on a map) provided by a different node.

Now, I want the navigation stack to avoid building the global costmap because that would just waste computation power and time but I still need the map for localization purposes and to be shown in rviz for visualization and setting the start- and goal positions.

When I put this

<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

in my launch file, it will probably automatically produce my costmap, right? Or does it produce the costmap only when I plan my path on it?

Does this question with the answer of David Lu do what I want? He proposes to put this in the global_costmap.yaml to disable the obstacle avoidance:

plugins:
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}

I don't know if that is the right approach.

Edit:

My global_costmap_params.yaml file:

global_costmap:
  global_frame: /map
  robot_base_link: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true
  rolling_window: false
  map_type: costmap