ROS Navigation-----costmap_2d之staticmap层简介

最新推荐文章于 2023-12-18 21:46:57 发布

翻译最新推荐文章于 2023-12-18 21:46:57 发布 · 2.5k 阅读

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本文介绍了如何在机器人导航系统中使用静态地图作为代价地图的初始化数据。文章详细解释了如何通过参数设置来控制地图的读取方式，包括代价阈值设定、未知空间跟踪等，并说明了不同订阅主题及更新订阅的重要性。

静态地图中包含的大多数是来自外部源的不变数据(see the map_server package for documentation on building a map)。

代价地图可以选择使用用户定义的静态地图来初始化它(see the static_map parameter)。如果该选项被选择，代价地图将使用service call从 map_server 获取静态地图

unknown_cost_value ( int, default: -1)

从map server提供地图中读到这个值，其代价将被按unknown看待。 If the costmap is not tracking unknown space, costs of this value will be considered occupied. A value of zero also results in this parameter being unused.

lethal_cost_threshold ( int, default: 100)

The threshold value at which to consider a cost lethal when reading in a map from the map server.

map_topic ( string, default: "map")

指定代价地图用来订阅静态地图的主题。 This parameter is useful when you have multiple costmap instances within a single node that you want to use different static maps. - New in navigation 1.3.1

first_map_only ( bool, default: false)

Only subscribe to the first message on the map topic, ignoring all subsequent messages

subscribe_to_updates ( bool, default: false)

track_unknown_space ( bool, default: true)

If true, unknown values in the map messages are translated directly to the layer. Otherwise, unknown values in the map message are translated as FREE_SPACE in the layer.

use_maximum ( bool, default: false)