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

1 概述

  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)。

1.1 Subscribed Topics

"map" ( nav_msgs/OccupancyGrid)

• 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

1.2 Parameters

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)

• In addition to map_topic, also subscribe to map_topic + "_updates"

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)

• Only matters if the static layer is not the bottom layer. If true, only the maximum value will be written to the master costmap.

trinary_costmap (bool, default: true)

如果是true, 所有地图消息都将被转义成3个值：NO_INFORMATION/FREE_SPACE/LETHAL_OBSTACLE (three values)；如果是false，地图消息可能会转义成一系列值