costmap一些参数 global和local的参考网址

footprint_padding: 0.03 #机器人外形膨胀 common参数

Plugins

~<name>/plugins (sequence, default: pre-Hydro behavior)

• Sequence of plugin specifications, one per layer. Each specification is a dictionary with name and type fields. The name is used to define the parameter namespace for the plugin. See the tutorials for examples.

Coordinate frame and tf parameters

~<name>/global_frame (string, default: "/map")

• The global frame for the costmap to operate in.

~<name>/robot_base_frame (string, default: "base_link")

• The name of the frame for the base link of the robot.

~<name>/transform_tolerance (double, default: 0.2)

• Specifies the delay in transform (tf) data that is tolerable in seconds. This parameter serves as a safeguard to losing a link in the tf tree while still allowing an amount of latency the user is comfortable with to exist in the system. For example, a transform being 0.2 seconds out-of-date may be tolerable, but a transform being 8 seconds out of date is not. If the tf transform between the coordinate frames specified by the global_frame and robot_base_frame parameters is transform_tolerance seconds older than ros::Time::now(), then the navigation stack will stop the robot.

Rate parameters

~<name>/update_frequency (double, default: 5.0)

• The frequency in Hz for the map to be updated.

~<name>/publish_frequency (double, default: 0.0)

• The frequency in Hz for the map to be publish display information.

Map management parameters

~<name>/rolling_window (bool, default: false)

• Whether or not to use a rolling window version of the costmap. If the static_map parameter is set to true, this parameter must be set to false.

~<name>/always_send_full_costmap (bool, default: false)

• If true the full costmap is published to "~<name>/costmap" every update. If false only the part of the costmap that has changed is published on the "~<name>/costmap_updates" topic.

The following parameters can be overwritten by some layers, namely the static map layer.

• ~<name>/width (int, default: 10)
  • The width of the map in meters.
  ~<name>/height (int, default: 10)
  • The height of the map in meters.
  ~<name>/resolution (double, default: 0.05)
  • The resolution of the map in meters/cell.
  ~<name>/origin_x (double, default: 0.0)
  • The x origin of the map in the global frame in meters.
  ~<name>/origin_y (double, default: 0.0)
  • The y origin of the map in the global frame in meters.

global_costmap_params.yaml参数解析_Studying……-CSDN博客_global_costmap

local_costmap_params.yaml参数注释_Studying……-CSDN博客

http://wiki.ros.org/costmap_2d