costmap-architecture
CommunityMaster Nav2 costmap architecture and layer order.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
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.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: costmap-architecture Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#costmap-architecture Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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