Lyrical to M-Turtle

Migration Actions and Deprecations

New Features and Improvements

Static Layer Overlays Without Resizing the Master

PR #6488 adds the Static Layer parameter resize_master, which defaults to true. Existing configurations require no changes: a Static Layer still resizes a non-rolling master costmap to match its incoming map.

Set resize_master: false for additional Static Layers whose maps should not control the master's geometry. For example, a Vector Object Server can publish an obstacle map with a smaller or changing extent while the primary Static Layer continues to own the site map geometry.