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.
- The threshold value at which to consider a cost lethal when reading in a map from the map server.
- 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
- Only subscribe to the first message on the map topic, ignoring all subsequent messages
- In addition to map_topic, also subscribe to map_topic + "_updates"
- 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.
- 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