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Improve clarity of Costmap2D parameter documentation #889

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Merged
SteveMacenski merged 3 commits into from
Mar 18, 2026
Merged

Improve clarity of Costmap2D parameter documentation #889

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baf874e
Improve clarity of costmap parameter descriptions
sudoaptinstalltarun Mar 18, 2026
01ac0f2
Improve clarity of Costmap2D parameter documentation
sudoaptinstalltarun Mar 18, 2026
6611bb9
Improve clarity of Costmap2D parameter documentation
sudoaptinstalltarun Mar 18, 2026
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19 changes: 13 additions & 6 deletions configuration/packages/configuring-costmaps.rst
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Expand Up @@ -22,7 +22,7 @@ Costmap2D ROS Parameters
============== =======

Description
Whether to send full costmap every update, rather than updates.
Whether to send the full costmap on every update instead of only incremental updates.

:introspection_mode:

Expand Down Expand Up @@ -121,7 +121,7 @@ Costmap2D ROS Parameters
============== =======

Description
The height of map, allows to avoid rviz visualization flickering at -0.008
The height of the map used for visualization, helping to avoid RViz flickering issues (e.g., at -0.008).

:origin_x:

Expand Down Expand Up @@ -154,7 +154,8 @@ Costmap2D ROS Parameters
============== =======

Description
Frequency to publish costmap to topic.
Frequency (Hz) at which the costmap is published to a topic.
Higher values provide more frequent updates for visualization and debugging but increase bandwidth usage.

:resolution:

Expand All @@ -165,7 +166,9 @@ Costmap2D ROS Parameters
============== =======

Description
Resolution of 1 pixel of the costmap, in meters.
Resolution of each cell (pixel) in the costmap, in meters.
Smaller values increase map accuracy and obstacle detail but require more computation.
Larger values reduce computational load but may miss fine obstacles.

:robot_base_frame:

Expand Down Expand Up @@ -209,7 +212,9 @@ Costmap2D ROS Parameters
============== =======

Description
Whether costmap should roll with robot base frame.
If true, the costmap moves with the robot, maintaining a local view centered around it.
This is typically used for local costmaps.
If false, the costmap remains fixed in the global frame.

:track_unknown_space:

Expand Down Expand Up @@ -297,7 +302,9 @@ Costmap2D ROS Parameters
============== =======

Description
whether when combining costmaps to use the maximum cost or override.
Whether to use the maximum cost when combining multiple costmap layers.
If true, the highest cost is preserved, ensuring obstacles are not overwritten.
If false, newer layers may override previous cost values.

:plugins:

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