How to select costmap layers in navigation plugins

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Navigation2 provides plugins of costmap-layers for creating costmaps, such as Voxel Layer, Static Layer, Inflation Layer, Obstacle Layer.

What is the basis for the selection to create global costmap and local costmap?

For example, why choose the “static_layer”, “obstacle_layer”, “inflation_layer” plugins to generate global_costmap, and choose the “voxel_layer”, “inflation_layer” plugins to generate local_costmap.

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@zhukao Please review [FAQ - ROS Discourse].

We are happy to answer questions here: https://answers.ros.org/questions/

Cheers,

Josh

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Thanks for your question. However we ask that you please ask questions on Robotics Stack Exchange following our support guidelines.

ROS Discourse is for news and general interest discussions. Robotics Stack Exchange provides a Q&A site which can be filtered by tags to make sure the relevant people can find and/or answer the question, and not overload everyone with hundreds of posts.

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