The following are the main configurations required for building a global costmap. The definition of the costmap parameters is dumped in chefbot_bringup/param/ global_costmap_params.yaml. The following is the definition of this file and its uses:
global_costmapglobal_frame: /maprobot_base_frame: /base_footprintupdate_frequency: 1.0publish_frequency: 0.5static_map: truetransform_tolerance: 0.5
The global_frame here is /map, which is the coordinate frame of the costmap. The robot_base_frame parameter is /base_footprint; it is the coordinate frame in which the costmap should reference as the robot base. The update_frequency is the frequency at which the costmap runs its main update loop. The publishing_frequency ...
