Robot Operating System Cookbook

Local costmap

After configuring the global costmap, we are going to configure the local costmap. Thus, we will create a new file in chapter7_tutorials/launch with the name local_costmap_params.yaml, and add the following code:

local_costmap:global_frame: /maprobot_base_frame: /base_footprintupdate_frequency: 5.0publish_frequency: 2.0static_map: falserolling_window: truewidth: 5.0height: 5.0resolution: 0.02tranform_tolerance: 0.5planner_frequency: 1.0planner_patiente: 5.0

The global_frame, robot_base_frame, update_frequency, and static_map parameters are the same as described during configuring the global costmap, in the previous section. In addition, the publish_frequency parameter defines updating the frequency and the rolling_window parameter ...