ROS与navigation教程-costmap_2d-staticmap

ROS与navigation教程-costmap_2d-staticmap

说明:

• 介绍costmap_2d-staticmap的概念及其相关知识

概要

• 静态地图主要包含来自外部源的不变数据（有关构建地图的资料，请参阅map_server包）。

Subscribed Topics

"map" ([nav_msgs/OccupancyGrid][2]) 

• 代价地图可以选择使用用户定义的静态地图来进行初始化（参考 static_map 参数）

• 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。

Parameters

unknown_cost_value (int, default: -1) 

• The value for which a cost should be considered unknown when reading in a map from the map server. 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") 

• The topic that the costmap subscribes to for the static map. 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) 

• 只订阅地图上的第一条消息主题，忽略所有后续消息。

subscribe_to_updates (bool, default: false) 

• 除了map_topic，还订阅map_topic +“_updates”

track_unknown_space (bool, default: true) 

-如果为true，则地图消息中的未知值将直接转换到该层。 否则，地图消息中的未知值将在层中转换为FREE_SPACE。

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) 

• 如果为true，则将所有地图消息值转换为NO_INFORMATION / FREE_SPACE / LETHAL_OBSTACLE（三个值）。

• If false, a full spectrum of intermediate values is possible.

**参考资料*

• http://wiki.ros.org/costmap_2d/hydro/staticmap

• http://blog.csdn.net/x_r_su/article/details/53420130