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: bool Default: true

Whether it is enabled.

<static layer>.footprint_clearing_enabled

Type: bool Default: false

Clear any occupied cells under robot footprint.

<static layer>.restore_cleared_footprint

Type: bool Default: true

Restore map after clearing the area the footprint occupied. If footprint_clearing_enabled is false, this parameter is ignored.

<static layer>.subscribe_to_updates

Type: bool Default: false

Subscribe to static map updates after receiving first.

<static layer>.map_subscribe_transient_local

Type: bool Default: true

QoS settings for map topic.

<static layer>.map_topic

Type: string Default: "map"

Map topic to subscribe to.

Relative topics will be relative to the node's parent namespace. For example, if you specify map_topic: map in the static_layer of a global_costmap and you launch your bringup with a tb4 namespace:

• User chosen namespace is tb4.
• User chosen topic is map.
• Topic will be remapped to /tb4/map without global_costmap.
• Use global topic /map if you do not wish the node namespace to apply.