ROS Programming: Building Powerful Robots

Configuring the local costmap

The next file is for configuring the local costmap. Create a new file in chapter6_tutorials/launch with the name local_costmap_params.yaml, and add the following code:

local_costmap: 
  global_frame: /map 
  robot_base_frame: /base_footprint 
  update_frequency: 5.0 
  publish_frequency: 2.0 
  static_map: false 
  rolling_window: true 
  width: 5.0 
  height: 5.0 
  resolution: 0.02 
  transform_tolerance: 0.5 
  planner_frequency: 1.0 
  planner_patiente: 5.0 

The global_frame, robot_base_frame, update_frequency and static_map parameters are the same as described in the previous section, configuring the global costmap. The publish_frequency parameter determines the frequency for publishing information. The rolling_window parameter is used to ...