Static Layer Parameters

This implements a costmap layer taking in a map from either SLAM or map_server (or other) to place into the costmap. It resizes the costmap to its size and places the static obstacles on the planning space.

<static layer> is the corresponding plugin name selected for this type.

<static layer>.enabled

Type	Default
bool	True

Description: Whether it is enabled.

<static layer>.footprint_clearing_enabled

Type	Default
bool	False

Description: Clear any occupied cells under robot footprint.

<static layer>.subscribe_to_updates

Type	Default
bool	False

Description: Subscribe to static map updates after receiving first.

<static layer>.map_subscribe_transient_local

Type	Default
bool	True

Description: QoS settings for map topic.

<static layer>.transform_tolerance

Type	Default
double	0.0

Description: TF tolerance.

<static layer>.map_topic

Type	Default
string	“”

Description: Map topic to subscribe to. If left empty the map topic will default to the global map_topic parameter in costmap_2d_ros.