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[P1] Costmap configuration — local + global costmaps for Nav2 #478

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opened 2026-03-05 14:39:18 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 14:39:18 -05:00
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Create costmap config for Nav2. Global costmap: static layer (from SLAM map) + obstacle layer (/scan + /depth_scan). Local costmap: rolling window 3m x 3m, voxel layer from depth, inflation radius 0.3m. Configure in nav2_params.yaml or separate costmap_params.yaml. Must work with RPLIDAR A1M8 + RealSense D435i depth_to_laserscan.

Create costmap config for Nav2. Global costmap: static layer (from SLAM map) + obstacle layer (/scan + /depth_scan). Local costmap: rolling window 3m x 3m, voxel layer from depth, inflation radius 0.3m. Configure in nav2_params.yaml or separate costmap_params.yaml. Must work with RPLIDAR A1M8 + RealSense D435i depth_to_laserscan.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#478
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