CostmapUpdate Message
Package: nav2_msgs
Category: Costmap Messages
Incremental updates to costmap data for efficient real-time updates
Message Definition
| Field | Type | Description |
|---|---|---|
header |
std_msgs/Header |
Standard ROS header with timestamp and frame information |
x |
uint32 |
X coordinate (grid cell index) of the lower-left corner of the update region |
y |
uint32 |
Y coordinate (grid cell index) of the lower-left corner of the update region |
size_x |
uint32 |
Width of the costmap window being updated (number of cells in X direction) |
size_y |
uint32 |
Height of the costmap window being updated (number of cells in Y direction) |
data |
uint8[] |
Cost data (0-255) in row-major order starting from (x,y) |
Related Messages
- Costmap - Full costmap representation
- All Costmap Messages
Usage Context
Enables efficient transmission of partial costmap changes, reducing bandwidth compared to full costmap republication.