local-costmap-config

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.