Integrate pre-built maps into the ROS 2 Nav2 global costmap.
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill static-layer
Please help me install this Agent Skill. Skill: static-layer Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/static-layer Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill static-layer
StaticLayer plugs a pre-built map into the global costmap, delivering walls and static structures as the base layer for global path planning in ROS 2 Nav2.
Configure your global_costmap to include static_layer with map_topic '/map' and enable map_subscribe_transient_local, then launch map_server and costmap to apply the static layer.
High-intent search queries and answers about installing and using this skill.
Configuring the static layer in Nav2 requires setting map_topic, map_subscribe_transient_local, subscribe_to_updates, and cost-mapping parameters like trinary_costmap, lethal_cost_threshold, and unknown_cost_value. These settings define how the pre-built map integrates into the global_costmap as the base layer for navigation.
If the Nav2 global costmap is not receiving the static map, it is likely because map_subscribe_transient_local is not enabled. Enabling this parameter ensures the static layer receives the latest map even if the map_server starts publishing earlier than the costmap node.
Yes, you can use a SLAM-produced map for offline global path planning in ROS 2 by loading it into the static layer. This integrates the known map into the global costmap, providing a stable costmap foundation with walls and static structures for route planning without live SLAM.
The trinary_costmap parameter in the Nav2 static layer controls cost semantics by defining how map cell values are translated into costmap costs. When enabled, it applies clear cost thresholds such as lethal_cost_threshold and unknown_cost_value to manage obstacles and unknown spaces during navigation.
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wimbleroboticsConfigure Nav2 local costmap YAML with rolling window parameters.
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