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Removed continuous updating voxel costmap layer from global map creation, dynamic obstacle clearing changes #2

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Removed continuous updating voxel costmap layer from global map creation, dynamic obstacle clearing changes #2

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49b3fbb
make dynamic obstacle clearing much faster
alexlin2 Apr 16, 2025
6393cac
removed static layer for local costmap
alexlin2 Apr 27, 2025
2220e68
Removed continuous updating voxel costmap layer from global map creation
spomichter Apr 30, 2025
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44 changes: 13 additions & 31 deletions go2_robot_sdk/config/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -181,36 +181,32 @@ controller_server:
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
update_frequency: 2.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 6
height: 6
always_send_full_costmap: true
width: 8
height: 8
resolution: 0.05
footprint: "[ [0.360, 0.200], [0.360, -0.200], [-0.450, -0.200], [-0.450, 0.200] ]"
plugins: ["static_layer", "voxel_layer", "inflation_layer"]
plugins: ["obstacle_layer", "inflation_layer"]

static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True

voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
publish_voxel_map: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_max_range: 6.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_max_range: 5.5
obstacle_min_range: 0.0

inflation_layer:
Expand All @@ -221,7 +217,7 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
update_frequency: 0.0 # Set to 0 to prevent dynamic updates
publish_frequency: 1.0
global_frame: odom
robot_base_frame: base_link
Expand All @@ -234,27 +230,13 @@ global_costmap:
origin_x: -250.0
origin_y: -250.0
footprint: "[ [0.360, 0.200], [0.360, -0.200], [-0.450, -0.200], [-0.450, 0.200] ]"
plugins: ["static_layer", "voxel_layer", "inflation_layer"]
plugins: ["static_layer", "inflation_layer"] # Removed voxel_layer

static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True

voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
observation_sources: scan
scan:
topic: scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
subscribe_to_updates: False # Don't subscribe to map updates

inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
Expand Down