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costmap-architecture

Explain Nav2 costmap layer ordering and plugin combination methods.

18|2|Updated Apr 20, 2026
Search Tags:#planning#configuration#ros2#layering#nav2#costmap#obstacle-inflation
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill costmap-architecture
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: costmap-architecture
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/costmap-architecture
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill costmap-architecture

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Understand how Nav2 costmap architecture and plugin ordering impact the composition of the master grid, obstacle inflation, and path planning outcomes.

Core Features & Use Cases

  • Clarifies the global and local costmap ordering including static_layer, obstacle/voxel layers, and inflation ordering.
  • Explains how the master grid is built through per-layer updateBounds and updateCosts with different combination_method values.
  • Use Case: Tune a robot navigation stack to ensure dynamic obstacles are inflated properly and the planner respects cost gradients.

Quick Start

Experiment by verifying that inflation is last in the plugin chain and that both global and local costmaps reflect the intended layer order.

Frequently Asked Questions about costmap-architecture

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How does Nav2 costmap layer ordering affect path planning?▼

Nav2 costmap layer ordering determines how the master grid is built through per-layer updateBounds and updateCosts, directly impacting obstacle inflation and the final path planning outcomes.

What is the correct plugin order for global and local costmaps in ROS 2 Nav2?▼

Global and local costmaps in ROS 2 Nav2 should typically place the static_layer first, followed by obstacle or voxel layers, with inflation applied last in the plugin chain.

How do I configure costmap combination_method values for multiple layers in Nav2?▼

You configure combination_method values per layer to control how updateCosts merges data into the master grid, ensuring dynamic obstacles and static maps interact correctly during navigation.

Why does obstacle inflation not work properly in my Nav2 costmap configuration?▼

Obstacle inflation fails when the inflation layer is not placed last in the Nav2 costmap plugin chain, preventing the planner from respecting cost gradients properly.

Can I use the same costmap layer order for both global and local costmaps in ROS 2?▼

Both global and local costmaps in ROS 2 Nav2 should reflect the intended layer order, ensuring the static_layer, observation_sources, and inflation layer are configured consistently.

What is the role of Costmap2DROS behavior in Nav2 costmap architecture?▼

Costmap2DROS manages the execution of the plugin chain, coordinating how each layer updates bounds and costs to construct the final master grid for the Nav2 planner.

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