static-layer

What problem does it solve?

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.

Core Features & Use Cases

• Integrates pre-built maps into the global_costmap as the static base layer for global planning.
• Supports map_subscribe_transient_local to ensure the latest map is received even if the map server starts earlier.
• Allows control over map_topic, updates subscription, and the trinary_costmap mode for clear cost semantics.
• Useful when SLAM produces a map or when loading a known map for offline planning with a stable costmap foundation.

Quick Start

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.