X-lanni
36 lines
1.9 KiB
XML
36 lines
1.9 KiB
XML
<class_libraries>
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<library path="layers">
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<class type="nav2_costmap_2d::InflationLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Inflates obstacles to speed collision checking and to make robot prefer to stay away from obstacles.</description>
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</class>
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<class type="nav2_costmap_2d::ObstacleLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Listens to laser scan and point cloud messages and marks and clears grid cells.</description>
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</class>
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<class type="nav2_costmap_2d::StaticLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
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</class>
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<class type="nav2_costmap_2d::VoxelLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
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</class>
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<class type="nav2_costmap_2d::RangeSensorLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>A range-sensor (sonar, IR) based obstacle layer for costmap_2d</description>
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</class>
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<class type="nav2_costmap_2d::DenoiseLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Filters noise-induced freestanding obstacles or small obstacles groups</description>
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</class>
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</library>
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<library path="filters">
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<class type="nav2_costmap_2d::KeepoutFilter" base_class_type="nav2_costmap_2d::Layer">
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<description>Prevents the robot from appearing in keepout zones marked on map.</description>
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</class>
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<class type="nav2_costmap_2d::SpeedFilter" base_class_type="nav2_costmap_2d::Layer">
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<description>Restricts maximum speed of robot in speed-limit zones marked on map.</description>
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</class>
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<class type="nav2_costmap_2d::BinaryFilter" base_class_type="nav2_costmap_2d::Layer">
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<description>Binary flip filter.</description>
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</class>
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</library>
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</class_libraries>
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