Key Engineering Takeaways
- •Costmaps assign values from 0 (Free Space) to 254 (Lethal Obstacle) to guide path planning.
- •The Inflation Layer expands obstacles by the robot inscribed radius plus safety padding to guarantee zero chassis collisions.
- •Voxel Layer clearing clears dynamic obstacles (people walking by) in real time using 3D raytracing.
Prerequisites
- • Nav2 stack basics
The Exponential Inflation Cost Formula
Within the inflation decay zone, the cost value $C$ decays exponentially with distance $d$ from the nearest obstacle:
$$C(d) = 253 \times \exp\left(-\text{cost\_scaling\_factor} \times (d - \text{inscribed\_radius})\right)$$
Tags:#Costmaps#Nav2#Inflation Layer#Voxel Layer#Obstacle Avoidance#ROS 2