miuav 成本图配置技能
Navigation2 成本图配置与优化
何时使用
当需要以下帮助时使用此技能：
- 成本图层级配置
- 膨胀参数调整
- 障碍物阈值设置
- 动态成本图更新
- 地图过滤
核心配置
全局成本图
# config/global_costmap.yaml
global_costmap:
ros__parameters:
global_frame: map
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 1.0
cost_scaling_factor: 1.0
# 障碍层
obstacles:
enabled: true
observation_sources: scan
scan:
sensor_frame: base_scan
topic: /scan
data_type: LaserScan
obstacle_range: 5.0
raytrace_range: 5.5
# 膨胀层
inflation:
enabled: true
cost_scaling_factor: 1.0
inflation_radius: 0.55
# 静态地图层
static_map:
enabled: true
map_topic: /map
局部成本图
# config/local_costmap.yaml
local_costmap:
ros__parameters:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
width: 3.0
height: 3.0
resolution: 0.05
plugins:
- obstacle_layer
- inflation_layer
obstacle_layer:
enabled: true
observation_sources: pointcloud
pointcloud:
topic: /lidar_points
data_type: PointCloud2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_layer:
enabled: true
cost_scaling_factor: 1.5
inflation_radius: 0.35
成本值
Costmap 成本值 (0-255):
0 = NO obstacle
1-127 = Lethal obstacle (最近障碍物)
128 = Inscribed radius (内切圆半径)
129-252 = Possibly circumscribed radius (可能的外接圆)
253-254 = No information
255 = Unknown