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Overview

The static map incorporates mostly unchanging data from an external source (see the map_server package for documentation on building a map).

Subscribed Topics

"map" (nav_msgs/OccupancyGrid)

• The costmap has the option of being initialized from a user-generated static map (see the static_map parameter). If this option is selected, the costmap makes a service call to the map_server to obtain this map.

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)

• 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)

• If true, translates all map message values to NO_INFORMATION/FREE_SPACE/LETHAL_OBSTACLE (three values). If false, a full spectrum of intermediate values is possible.