costmap_2d 1.17.3 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. Eitan Marder-Eppstein David V. Lu!! Dave Hershberger contradict@gmail.com David V. Lu!! Michael Ferguson Aaron Hoy BSD http://wiki.ros.org/costmap_2d catkin cmake_modules message_generation tf2_geometry_msgs tf2_sensor_msgs dynamic_reconfigure eigen geometry_msgs laser_geometry map_msgs message_filters nav_msgs pluginlib roscpp rostest sensor_msgs std_msgs tf2 tf2_ros visualization_msgs voxel_grid message_runtime rosconsole map_server rosbag rostest rosunit