38 lines
1.7 KiB
XML
Executable File
38 lines
1.7 KiB
XML
Executable File
<class_libraries>
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<library path="liblayers">
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<class type="costmap_2d::InflationLayer" base_class_type="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="costmap_2d::PreferredLayer" base_class_type="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="costmap_2d::UnPreferredLayer" base_class_type="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="costmap_2d::CriticalLayer" base_class_type="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="costmap_2d::DirectionalLayer" base_class_type="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="costmap_2d::ObstacleLayer" base_class_type="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="costmap_2d::StaticLayer" base_class_type="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="costmap_2d::VoxelLayer" base_class_type="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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</library>
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</class_libraries>
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