将costmap_common中的costmap_type参数,local_costmap,global_costmap中的static_map参数删除,因为已经使用了plugins配置,那costmap_type和static_map将无用

src/robot_navigation/config/costmap_common_params.yaml

@@ -8,7 +8,6 @@
 #     障碍物就需要增大该值,若无法通过狭窄地方就减小该值
 #   cost_scaling_factor:用于将inflation计算cost的比例因数,该参数
 #     越大,越不把这个inflating看着移动的cost.
-#   map_type:如果想要3D视图的就用voxel,2D视图的就用costmap参数.
 #   observation_sources:观察源是激光雷达
 # Author: corvin
 # History:
@@ -25,8 +24,6 @@ footprint: [[ 0.30,  0.00],[ 0.30,  0.07],[ 0.07,  0.07],
             [-0.11,  0.00],[-0.06, -0.07],[ 0.00, -0.10],
             [ 0.06, -0.08],[ 0.07, -0.07],[ 0.30, -0.07]]
 
-map_type: costmap
-
 #障碍物图层
 obstacle_layer:
  enabled: true

src/robot_navigation/config/global_costmap_params.yaml

@@ -3,7 +3,6 @@
 #   robot_base_frame: 指定机器人的基础参考系
 #   update_frequency: 指定地图更新频率，数值太大造成CPU负担重
 #   publish_frequency: 对于静态全局地图来说，不需不断发布
-#   static_map: 全局地图通常是静态的，因此设置为true
 #   rolling_window:全局地图不会在机器人移动时候更新
 #   transform_tolerance:指定在tf树中frame直接的转换最大延时，单位秒
 # Author: corvin
@@ -18,13 +17,12 @@ global_costmap:
    update_frequency: 1.0
    publish_frequency: 1.0
 
-   static_map: true
    rolling_window: false
    resolution: 0.05
    transform_tolerance: 5.0
 
    plugins:
-   - {name: static_layer,     type: "costmap_2d::StaticLayer"}
-   - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
-   - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
+   - {name: static_layer,    type: "costmap_2d::StaticLayer"}
+   - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
+   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
 

src/robot_navigation/config/local_costmap_params.yaml

@@ -24,7 +24,6 @@ local_costmap:
     update_frequency: 4.0
     publish_frequency: 4.0
 
-    static_map: false
     rolling_window: true
     width: 1.8
     height: 1.8