Costmap
- In French:
- Carte de coût
Definition
A two-dimensional grid that divides a mobile robot’s environment into cells, each marked as unknown, free, occupied or close to an obstacle. It is fed by sensors, lidar, depth cameras or sonar, and is used to compute a path and then movement commands. In Nav2, several layers are stacked on top of each other to bring in different sources of information.
Checked on against the references below.