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navigation.ros.org
navigation.ros.org
11 changes: 11 additions & 0 deletions _sources/configuration/packages/costmap-plugins/static.rst.txt
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Description
Whether it is enabled.

:``<static layer>``.footprint_clearing_enabled:

==== =======
Type Default
---- -------
bool False
==== =======

Description
Clear any occupied cells under robot footprint.

:``<static layer>``.subscribe_to_updates:

==== =======
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Collision monitor: dynamic radius for circle type polygons
**********************************************************
`PR #4226 <https://github.com/ros-planning/navigation2/pull/4226>`_ introduces usage of parameter ``<polygon_name>.polygon_sub_topic`` for circle type polygons. If parameter ``<polygon_name>.radius`` is not set, collision monitor node subscribes to topic ``<polygon_name>.polygon_sub_topic`` (subscription type is ``std_msgs/msg/Float32``), and the current circle polygon radius will be updating accordingly to received messages on topic.


Static Layer: new parameter ``footprint_clearing_enabled``
**********************************************************
`PR #4282 <https://github.com/ros-planning/navigation2/pull/4282>`_ introduces usage of parameter ``footprint_clearing_enabled`` for the static layer. It works similarly to the ``footprint_clearing_enabled`` parameter in the obstacle and voxel layer. If set to ``true``, the static layer will clear the costmap cells that are within the robot's footprint. It is ``false`` by default to keep the previous behavior.
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