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Robot Operating System Cookbook by Kumar Bipin

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Local costmap

This displays the local costmap with the navigation stack that is used for navigation, where the pink line shows the detected obstacle and the blue zone represents the inflated obstacle, as shown in the following screenshot. To have collision-free navigation, the center point of the robot should never overlap with a grid cell that contains an inflated obstacle:

  • Topic: move_base/local_costmap/costmap
  • Type: nav_msgs/OccupancyGrid
Local costmap

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