local_map provides a simple local cost map for several jockeys for the Large Maps Framework (LaMa). The map is centered on the frame of the laser range finder on which it is based but its orientation is fixed.
Overview
The image shows the map in player on the left and the local map obtained from the LaserScan (red dots) on the right. The robot's orientation is approximately 45° but the map's orientation is fixed.
Usage
ROS API
Subscribed Topics
~<name>/footprint (sensor_msgs/LaserScan)- LaserScan with possibly less than 360° angular range.
Published Topics
~<name>/local_map (nav_msgs/OccupancyGrid)- The values in the costmap (similar to costmap_2d).
Parameters
~<name>/map_width (float, default: 200)- Map pixel width (x-direction).
- Map pixel height (y-direction).
- Map resolution (m/pixel).