costmap_2d Documentation

costmap_2d: A 2D Costmap

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.


This pakage provides a 2D costmap that can be used for a wide range of planning and navigation tasks.


There are two main ways to use this package. The first is to create a costmap_2d::Costmap2D object and manage updating it yourself. The second, and encouraged method, is to use a ROS wrapper (costmap_2d::Costmap2DROS) for the costmap that manages the map for you, but allows you to get a copy of the underlying costmap_2d::Costmap2D object at any time.

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Author(s): Eitan Marder-Eppstein
autogenerated on Fri Mar 1 16:09:54 2013