costmap_2d
==================================================

.. raw:: html

    <p>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.</p>

**Maintainers:** `David V. Lu!! <mailto:davidvlu@gmail.com>`_, `Michael Ferguson <mailto:mfergs7@gmail.com>`_, `Aaron Hoy <mailto:ahoy@fetchrobotics.com>`_

**Authors:** Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com

**License:** BSD

**API:** `doxygen <html/index.html>`_ 


.. toctree::
    :titlesonly:

    Changelog <CHANGELOG>