Costmap

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.

Costmap

ROS2 Lifecycle Node that composes a 2D occupancy grid from pluggable layers for local obstacle avoidance.

Overview

The costmap node builds a nav_msgs/OccupancyGrid centred on the vehicle at a configurable rate. Each registered layer (objects, pointcloud, virtual walls) writes obstacle costs into the shared grid. The node also publishes the vehicle footprint as a geometry_msgs/PolygonStamped.

Parameters

Node-level

Parameter	Type	Default	Description
`costmap_frame`	string	`"base_link"`	Frame the grid is centred on
`map_frame`	string	`"map"`	Map frame for TF lookups
`publish_rate_hz`	double	20.0	Grid publish frequency
`grid_width_m`	double	60.0	Grid width in metres
`grid_height_m`	double	60.0	Grid height in metres
`resolution`	double	0.25	Cell size in metres
`footprint_front_left`	double[]	[0.0, 0.0]	Front-left corner [x, y] in costmap_frame
`footprint_rear_right`	double[]	[0.0, 0.0]	Rear-right corner [x, y] in costmap_frame
`layers`	string[]	[“objects”, “virtual_wall”]	Active layer names

ObjectsLayer (`layers.<name>.`)

Parameter	Type	Default	Description
`bbox_inflation_m`	double	0.5	Inflate bounding boxes by this amount
`bbox_cost_decay`	double	1.0	Cost multiplier for inflated region
`prediction_inflation_m`	double	0.3	Radius around predicted waypoints
`prediction_cost_decay`	double	0.8	Per-step cost decay along predictions

PointCloudLayer (`layers.<name>.`)

Parameter	Type	Description
`max_height_m`	double	Ignore points above this height (0 = disabled)
`min_height_m`	double	Ignore points below this height (0 = disabled)
`inflation_m`	double	Inflate each point by this radius
`cost_decay`	double	Cost decay rate for inflated cells

The pointcloud layer also reads the node-level footprint_front_left / footprint_rear_right params and excludes points inside the vehicle footprint rectangle.

VirtualWallLayer

No parameters. Walls are created and removed via ROS services.

Topics

Published

Topic	Type	Description
`costmap`	`nav_msgs/OccupancyGrid`	Composed occupancy grid
`footprint`	`geometry_msgs/PolygonStamped`	Vehicle footprint polygon

Subscribed

Topic	Type	Description
`world_objects`	`world_model_msgs/WorldObjectArray`	Tracked objects (ObjectsLayer)
`pointcloud`	`sensor_msgs/PointCloud2`	LiDAR point cloud (PointCloudLayer)

Services

Service	Type	Description
`spawn_wall`	`costmap_msgs/SpawnWall`	Create a virtual wall
`despawn_wall`	`costmap_msgs/DespawnWall`	Remove a virtual wall

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	nav_msgs
	geometry_msgs
	tf2_ros
	tf2_geometry_msgs
	world_model_msgs
	costmap_msgs
	sensor_msgs
	pluginlib
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup_robot
world_modeling_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

costmap

Recent questions tagged `costmap` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

costmap package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Layered costmap lifecycle node for world modeling

Maintainers

WATonomous

Authors

No additional authors.