Package Summary

Tags No category tags.
Version 0.1.7
License BSD
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version crystal-devel
Last Updated 2019-03-13

Package Description

This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius. This package also provides support for map_server based initialization of a costmap, rolling window based costmaps, and parameter based subscription to and configuration of sensor topics.

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  • Michael Ferguson
  • Aaron Hoy
  • Steve Macenski


No additional authors.

Nav2 Costmap_2d

The costmap_2d package is responsible for building a 2D costmap of the environment, consisting of several "layers" of data about the environment. It can be initialized via the map server or a local rolling window and updates the layers by taking observations from sensors A plugin interface allows for the layers to be combined into the costmap and finally inflated via a user specified inflation radius. The nav2 version of the costmap_2d package is mostly a direct ROS2 port of the ROS1 navigation stack version, with minimal noteable changes necessary due to support in ROS2.

Overview of Changes from ROS1 Navigation Costmap_2d

Still needs port

Future Plans

  • Conceptually, the costmap_2d model acts as a world model of what is known from the map, sensor, robot pose, etc. We'd like to broaden this world model concept and use costmap's layer concept as motivation for providing a service-style interface to potential clients needing information about the world (see issue

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package nav2_costmap_2d ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^


  • Port nav2_costmap_2d from costmap_2d version 1.16.2 (2018-07-31)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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