Skip to content

Latest commit

 

History

History
23 lines (23 loc) · 1.36 KB

README.md

File metadata and controls

23 lines (23 loc) · 1.36 KB

Add Obstacle Costmap Plugin Layer for Nav2

  1. Adds a rectangular costmap window of a configurable size as an obstacle of LETHAL_OBSTACLE cost (254).
  2. The plugin can be added to the nav2 params file in the local and/or global costmap params as follows:
  add_obstacle_layer:
    plugin: nav2_costmap_2d::AddObstacleLayer
    enabled: True
    update_window_height_m: 1.5
    update_window_width_m: 0.5
  1. The obstacles are published as a geometry_msgs/msg/Point message on the /summit/sensor_obstacles in the map frame.
ros2 topic pub /summit/sensor_obstacles geometry_msgs/msg/Point "x: 1.0
y: -4.5
z: 0.0"
  1. For having the plugin enabled we have to clone, build and source this repo.
colcon build --symlink-install --packages-select nav2_costmap_2d
. install/setup.bash
  1. Plugin inspired from Keepout Filter and Gradient Layer plugin.
  2. Add Obstacle Layer implementation can be found here: header file and source file.