Cant find launch arguments for costmap2d in nav2_bringup ROS2 Foxy

asked 2022-07-26 01:57:08 -0500 gravatar image

updated 2022-07-26 01:57:50 -0500

Where can i find the launch arguments for the costmap2d in the nav2_bringup package?

I managed to start the nav2_bringup and everything works fine.
However while trying to understand the launchfiles i got stuck on finding the launch code for the costmap2d node.

So far i understood that the following files are used to launch the example

  2. From there Rviz2 and is launched.
  3. In 2. then and is launched.

I can find the arguments to launch map_server, planner... however not the costmap in these files. The config file nav2_params.yaml includes specifications for the global and local costmap. Somewhere the costmap_node has to be launched to use these specifications.

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