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Global and local costmap

asked 2018-11-22 09:01:25 -0500

Ivan_Sanchez gravatar image


I was looking the navigation stack of ros and I don't understand the purpose of the global and local costmap... What is the aim of each one and what kind of information is stored in each one?

Thank you so much for your help!!

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Have you seen #q10620 ?

Delb gravatar image Delb  ( 2018-11-22 09:39:54 -0500 )edit


Yes, i saw It. But I do not understand what kind of information is store in the global costmap to be used by the global planner. If anyone can explain me something using an example It would be perfect...


Ivan_Sanchez gravatar image Ivan_Sanchez  ( 2018-11-22 14:39:58 -0500 )edit

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answered 2018-11-23 01:38:14 -0500

pmuthu2s gravatar image


ROS navigation tutorial this documentation should be able to explain to you.

All the parameters associated with the cost-maps are explained clearly.

Hope this helps !


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So for example, if my global planner computes the shortest path from one point to other over an OSM map, would the global costmap have stored the distance of the streets? Is in this case the OSM map the map_server and the global costmap the distances of the streets?

Thank you for your help!!

Ivan_Sanchez gravatar image Ivan_Sanchez  ( 2018-11-23 03:17:31 -0500 )edit

According to this documentation the cost map will be maintaining the information about where the robot should be traveling in the form of an occupancy grid. That being said, for navigation stack we have 2 costmaps, Global cost map and local cost map!

pmuthu2s gravatar image pmuthu2s  ( 2018-11-23 11:27:42 -0500 )edit

In this link according to eitan "Global planner uses the global costmap to generate a long-term plan while the local planner uses the local costmap to generate a short-term plan."

pmuthu2s gravatar image pmuthu2s  ( 2018-11-23 11:30:25 -0500 )edit

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Asked: 2018-11-22 09:01:25 -0500

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Last updated: Nov 23 '18