costmap_2d
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.
Maintainers: David V. Lu!!, Michael Ferguson, Aaron Hoy
Authors: Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
License: BSD
API: doxygen