costmap_2d¶

Contents:

Summary
Types
- Message types

Summary ¶

costmap_2d¶

BuildtoolDepends:
Version:	1.13.0
Description:	This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius. This package also provides support for map_server based initialization of a costmap, rolling window based costmaps, and parameter based subscription to and configuration of sensor topics.
Maintainers:	David V. Lu!! <davidvlu AT gmail DOT com> Michael Ferguson <mferguson AT fetchrobotics DOT com>
Licenses:	BSD
Urls:	website<http://wiki.ros.org/costmap_2d>
Authors:	Eitan Marder-Eppstein David V. Lu!! Dave Hershberger contradict@gmail.com
BuildDepends:	`cmake_modules` `dynamic_reconfigure` `geometry_msgs` `laser_geometry` `map_msgs` `message_filters` `message_generation` `nav_msgs` `pcl_conversions` `pcl_ros` `pluginlib` `roscpp` `rostest` `sensor_msgs` `std_msgs` `tf` `visualization_msgs` `voxel_grid`
	`catkin`
BuildExportDepends:
	`dynamic_reconfigure` `geometry_msgs` `laser_geometry` `map_msgs` `message_filters` `message_runtime` `nav_msgs` `pcl_conversions` `pcl_ros` `pluginlib` `rosconsole` `roscpp` `rostest` `sensor_msgs` `std_msgs` `tf` `visualization_msgs` `voxel_grid`
ExecDepends:	`dynamic_reconfigure` `geometry_msgs` `laser_geometry` `map_msgs` `message_filters` `message_runtime` `nav_msgs` `pcl_conversions` `pcl_ros` `pluginlib` `rosconsole` `roscpp` `rostest` `sensor_msgs` `std_msgs` `tf` `visualization_msgs` `voxel_grid`
TestDepends:	`map_server` `rosbag`
Exports:	<costmap_2d plugin=”${prefix}/costmap_plugins.xml”/>

Types ¶

Message types ¶

costmap_2d/VoxelGrid

costmap_2d/VoxelGrid¶

Field:	header (std_msgs/Header) – data[] (uint32) – origin (geometry_msgs/Point32) – resolutions (geometry_msgs/Vector3) – size_x (uint32) – size_y (uint32) – size_z (uint32) –

Header header
uint32[] data
geometry_msgs/Point32 origin
geometry_msgs/Vector3 resolutions
uint32 size_x
uint32 size_y
uint32 size_z