Advantage of adding costmap_2d::ObstacleLayer plugin to global costmap
I was going through this Husky Navigation tutorial. This tutorial allows us how to navigate the Husky bot without using a map.
It has 3 yaml
files for configuring the costmaps - costmap_global_laser.yaml
(for global costmap) , costmap_local.yaml
(for local costmap) and costmap_common.yaml
(for both global and local costmap).
This is how costmap_local.yaml
looks-
global_frame: odom
rolling_window: true
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
This is how costmap_global_laser.yaml
looks-
global_frame: odom
rolling_window: true
track_unknown_space: true
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
Why have we added an costmap_2d:ObstacleLayer
to the costmap_global_laser.yaml when it is already included in the costmap_local.yaml? Are there any advantages in terms of path planning?