local-costmap-config

Name: local-costmap-config
Availability: InStock
Author: wimble

Configure Nav2 local costmap YAML with rolling window parameters.

18|2|Updated Apr 20, 2026

Search Tags:#planning #configuration #ros2 #nav2 #costmap #local_costmap

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill local-costmap-config

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: local-costmap-config
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/local-costmap-config
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill local-costmap-config

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

The Local Costmap Configuration Skill provides a clear blueprint for tuning a Nav2 local costmap so the robot can react to obstacles with a rolling window around the robot, without relying on a global map, while controlling the window size, resolution, and update rates.

Core Features & Use Cases

Parameterized tuning: Configure rolling_window, global_frame, width, height, and resolution to balance obstacle coverage and CPU load.
Layer configuration guidance: Recommend suitable costmap layers (e.g., voxel_layer, obstacle_layer, inflation_layer) and how to enable or disable them for different sensor setups.
Use Case: Set a 5m × 5m window at 0.05 m resolution for indoor navigation with a differential drive robot, ensuring responsive obstacle avoidance.

Quick Start

Edit your Nav2 local_costmap YAML to set rolling_window to true, global_frame to odom, and appropriate width, height, and resolution, then load the configuration into the controller.

Frequently Asked Questions about local-costmap-config

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

FAQPage Schema

How do I configure a Nav2 local costmap for reactive obstacle avoidance?▼

Configure a Nav2 local costmap for reactive obstacle avoidance by setting rolling_window to true and global_frame to odom in your YAML file. This creates a rolling window around the robot that updates dynamically without relying on a global map.

What is the best way to tune local costmap width, height, and resolution in ROS2?▼

The best way to tune local costmap parameters in ROS2 is to balance obstacle coverage and CPU load. You can configure width, height, and resolution in your YAML file, such as setting a 5m x 5m window at 0.05 m resolution for responsive indoor navigation.

Which costmap layers should I use for a rolling window in Nav2?▼

For a rolling window in Nav2, use dynamic layers like voxel_layer, obstacle_layer, and inflation_layer for sensor data. You must avoid static layers because the rolling window operates independently of a global static map for reactive navigation.

Does local costmap configuration work for both indoor and outdoor navigation tasks?▼

Yes, local costmap configuration works for both indoor and outdoor navigation tasks. The Skill provides guidance on layer configuration and sensor source definitions, allowing you to enable or disable suitable costmap layers for different environmental sensor setups.

Why does my Nav2 local costmap configuration fail YAML validation?▼

Your Nav2 local costmap configuration fails YAML validation if it violates technical requirements. Ensure rolling_window is true, global_frame is odom, and static layers are excluded to enforce safe defaults and pass validation.