global-costmap-config

To configure the Nav2 global costmap with static maps and dynamic obstacles, you enable the obstacle layer integration in your YAML parameters while loading a valid static map. This allows the global costmap to manage the map-based planning space by overlaying dynamic sensor data onto the static map.

The track_unknown_space parameter in a ROS2 global costmap dictates how unmapped areas are treated during path planning. Configuring this behavior in your YAML settings ensures the Nav2 planner either avoids or allows traversal through unknown spatial regions.

To tune Nav2 global costmap update and publish frequencies for large maps, you adjust the rate parameters in your YAML configuration. Setting appropriate frequencies prevents performance bottlenecks while ensuring the map-based planning space remains current with sensor updates.

Nav2 global costmap footprint handling causes planning failures when the robot_base_frame and footprint parameters in your YAML are not properly defined or scaled. Verifying these settings against your robot's physical dimensions ensures accurate global planning space management.

You do not always need SLAM mode enabled to use voxel layers in a Nav2 costmap, but inclusion of obstacle and voxel layers depends on your specific sensor range and whether you are operating in SLAM mode. Configure the YAML parameters to match your sensor setup.