nav2_costmap_2d 1.1.18 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. Steve Macenski BSD-3-Clause Apache-2.0 ament_cmake nav2_common geometry_msgs laser_geometry map_msgs message_filters nav2_msgs nav2_util nav2_voxel_grid nav_msgs pluginlib rclcpp rclcpp_lifecycle sensor_msgs std_msgs std_srvs tf2 tf2_geometry_msgs tf2_ros tf2_sensor_msgs visualization_msgs angles ament_lint_common ament_lint_auto nav2_map_server ament_cmake_gtest launch launch_testing nav2_lifecycle_manager ament_cmake